Note : Les descriptions sont présentées dans la langue officielle dans laquelle elles ont été soumises.
CA 02894299 2015-06-15
DUAL-INTERFACE COUPLER
BACKGROUND INFORMATION
1. Field:
The present disclosure relates generally to aircraft and, in particular, to
building the fuselage of an aircraft. Still more particularly, the present
disclosure
relates to a method, apparatus, and system for coupling a number of utilities
between
a first system and a second system using a dual-interface coupler.
2. Background:
Building a fuselage may include assembling skin panels and a support
structure for the fuselage. The skin panels and support structure may be
joined
together to form a fuselage assembly. For example, without limitation, the
skin
panels may have support members, such as frames and stringers, attached to the
surface of the skin panels that will face the interior of the fuselage
assembly. These
support members may be used to form the support structure for the fuselage
assembly. The skin panels may be positioned relative to each other and the
support
members may be tied together to form this support structure.
Fastening operations may then be performed to join the skin panels and the
support members together to form the fuselage assembly. These fastening
operations may include, for example, riveting operations, interference-fit
bolting
operations, other types of attachment operations, or some combination thereof.
The
fuselage assembly may need to be assembled in a manner that meets outer mold
line (OML) requirements and inner mold line (IML) requirements for the
fuselage
assembly.
With some currently available methods for building a fuselage assembly, the
fastening operations performed to assemble the skin panels and the support
members together may be performed manually. For example, without limitation, a
first human operator positioned at an exterior of the fuselage assembly and a
second
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human operator positioned at an interior of the fuselage assembly may use
handheld
tools to perform these fastening operations. In some cases, this type of
manual
fastening process may be more labor-intensive, time-consuming, ergonomically
challenging, or expensive than desired. Further, some current assembly methods
used to build fuselages that involve manual fastening processes may not allow
fuselages to be built in the desired assembly facilities or factories at
desired
assembly rates or desired assembly costs.
In some cases, the current assembly methods and systems used to build
fuselages may require that these fuselages be built in facilities or factories
specifically designated and permanently configured for building fuselages.
These
current assembly methods and systems may be unable to accommodate different
types and shapes of fuselages. For example, without limitation, large and
heavy
equipment needed for building fuselages may be permanently affixed to a
factory and
configured for use solely with fuselages of a specific type.
Further, providing utilities, such as power, air, communications, hydraulic
fluid,
water, and other types of utilities, to the various systems used in some
current
assembly methods may be more difficult or cumbersome than desired. For
example,
without limitation, the various cables and connection devices needed to
provide these
types of utilities to the different tools being used to assemble a fuselage
may impede
or restrict the movement of personnel and tools within a manufacturing
environment.
Therefore, it would be desirable to have a method and apparatus that take into
account at least some of the issues discussed above, as well as other possible
issues.
SUMMARY
In one illustrative embodiment, a method for coupling a number of utilities
between a first system and a second system may be provided. A first interface
that
couples the number of utilities between the first system and the second system
may
be created between the first system and a utilities unit. The first interface
may be
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activated. A second interface may be deactivated between the second system and
the utilities unit while the first interface remains activated.
In another illustrative embodiment, an apparatus may comprise a first
coupling unit associated with a utilities unit, a first corresponding coupling
unit
associated with a first system, a second coupling unit associated with the
utilities
unit, and a second corresponding coupling unit associated with a second
system.
The first corresponding coupling unit may be coupleable to the first coupling
unit.
The second corresponding coupling unit may be coupleable to the second
coupling
unit.
In yet another illustrative embodiment, a dual-interface coupler may comprise
a first coupling unit associated with a utilities unit, a first corresponding
coupling unit
associated with a first system, a second coupling unit associated with the
utilities
unit, a second corresponding coupling unit associated with a second system, a
first
alignment system associated with the first corresponding coupling unit, and a
second
alignment system associated with the second corresponding coupling unit. The
first
corresponding coupling unit may be coupleable to the first coupling unit. The
second
corresponding coupling unit may be coupleable to the second coupling unit.
In yet another illustrative embodiment, a method for coupling a number of
utilities between an external mobile platform and a cradle fixture may be
provided. A
first coupling unit associated with a utilities unit may be mated with a first
corresponding coupling unit associated with the external mobile platform to
create a
first interface that comprises a mechanical interface and a utility interface.
The
number of utilities may be distributed from the cradle fixture through the
utilities unit
across the utility interface to the external mobile platform.
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In one embodiment, there is provided a method for coupling a number of
utilities between a first system and a second system. The method involves
creating a
first mechanical interface and a utility interface between the first system
and a
utilities unit by mating a first coupling unit on the utilities unit with a
first
corresponding coupling unit on the first system while a second mechanical
interface
between the second system and the utilities unit is locked to prevent
disengaging the
second system from the utilities unit. The method further involves locking the
first
mechanical interface to prevent disengaging the first system from the
utilities unit,
and with the first mechanical interface locked, unlocking the second
mechanical
interface. The method further involves, with the second mechanical interface
unlocked, disengaging the second system from the utilities unit and moving the
first
system and the utilities unit away from the second system. The method further
involves distributing the number of utilities from the second system through a
number of utility cables to the utilities unit and across the utility
interface between the
first coupling unit and the first corresponding coupling unit to the first
system.
In another embodiment, there is provided an apparatus. The apparatus
includes a utilities unit comprising a first coupling unit and a second
coupling unit.
The apparatus further includes a first corresponding coupling unit on a first
system
and mechanically coupleable to the first coupling unit to form a first
mechanical
interface and a utility interface, the first mechanical interface operable to
be locked
and unlocked. The apparatus further includes a second corresponding coupling
unit
on a second system and mechanically coupleable to the second coupling unit to
form a second mechanical interface, the second mechanical interface operable
to be
locked and unlocked. The apparatus further includes a number of utility cables
connected between the second system and the utilities unit, for distributing a
number
of utilities from the second system to the utilities unit. Whereby, when the
first
mechanical interface is locked and the second mechanical interface is
unlocked, the
second system is disengageable from the utilities unit to allow the first
system and
the utilities unit to be moved away from the second system and the number of
utilities are distributable from the second system through the number of
utility cables
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to the utilities unit and across the utility interface between the first
coupling unit and
the first corresponding coupling unit to the first system.
In another embodiment, there is provided a dual-interface coupler. The dual-
interface coupler includes a utilities unit including a first coupling unit
and a second
coupling unit. The dual-interface coupler further includes a first
corresponding
coupling unit on a first system and mechanically coupleable to the first
coupling unit
to form a first mechanical interface and a utility interface, the first
mechanical
interface operable to be locked and unlocked. The dual-interface coupler
further
includes a second corresponding coupling unit on a second system and
mechanically coupleable to the second coupling unit to form a second
mechanical
interface, the second mechanical interface operable to be locked and unlocked.
The
dual-interface coupler further includes a number of utility cables configured
to
distribute a number of utilities from the second coupling unit to the
utilities unit. When
the first mechanical interface is locked and the second mechanical interface
is
unlocked, the second system is disengageable from the utilities unit to allow
the first
system and the utilities unit to be moved away from the second system and the
number of utilities are distributable from the second system through the
number of
utility cables to the utilities unit and across the utility interface between
the first
coupling unit and the first corresponding coupling unit to the first system.
The dual-
interface coupler further includes a first alignment system configured to
align the first
corresponding coupling unit with the first coupling unit, and a second
alignment
system configured to align the second corresponding coupling unit with the
second
coupling unit.
In another embodiment, there is provided a method for coupling a number of
utilities between an external mobile platform and a cradle fixture. The method
involves mating a first utility coupling unit associated with a utilities
transfer unit with
a first system coupling unit associated with the external mobile platform to
form a
first interface that comprises a first mechanical interface and a utility
interface, while:
a second mechanical interface between a second utility coupling unit
associated with
the utilities transfer unit and a second system coupling unit associated with
the
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cradle fixture is locked to prevent disengaging the cradle fixture from the
utilities
transfer unit; and a number of utility cables connect the cradle fixture to
the utilities
transfer unit, for distributing the number of utilities from the cradle
fixture to the
utilities transfer unit. The method further involves locking the first
mechanical
interface to prevent disengaging the external mobile platform from the
utilities
transfer unit, and unlocking the second mechanical interface and disengaging
the
second utility coupling unit from the second system coupling unit to disengage
the
cradle fixture from the utilities transfer unit. The method further includes
moving the
utilities transfer unit and the external mobile platform away from the cradle
fixture,
and distributing the number of utilities from the cradle fixture through the
number of
utility cables to the utilities transfer unit and through the utilities
transfer unit across
the utility interface to the external mobile platform.
The features and functions can be achieved independently in various
embodiments of the present disclosure or may be combined in yet other
embodiments in which further details can be seen with reference to the
following
description and drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
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The novel features believed characteristic of the illustrative embodiments are
set forth in the appended claims. The illustrative embodiments, however, as
well as
a preferred mode of use, further objectives and features thereof, will best be
understood by reference to the following detailed description of an
illustrative
embodiment of the present disclosure when read in conjunction with the
accompanying drawings, wherein:
Figure 1 is an illustration of a manufacturing environment in the form of a
block diagram in accordance with an illustrative embodiment;
Figure 2 is an illustration of a fuselage assembly in the form of a block
diagram in accordance with an illustrative embodiment;
Figure 3 is an illustration of a plurality of mobile systems of a flexible
manufacturing system within a manufacturing environment in the form of a block
diagram in accordance with an illustrative embodiment;
Figure 4 is an illustration a plurality of mobile platforms in the form of a
block
diagram in accordance with an illustrative embodiment;
Figure 5 is an illustration of a flow of a number of utilities across a
distributed
utility network in the form of a block diagram in accordance with an
illustrative
embodiment;
Figure 6 is an illustration of a dual-interface coupler in the form of a block
diagram in accordance with an illustrative embodiment;
Figure 7 is an illustration of a first alignment system and a second alignment
system in the form of a block diagram in accordance with an illustrative
embodiment;
Figure 8 is an illustration of a first tower coupled to a utility fixture in
accordance with an illustrative embodiment;
Figure 9 is an illustration of an isometric view of a cradle system in
accordance with an illustrative embodiment;
Figure 10 is an illustration of an isometric view of an assembly fixture
formed
using a cradle system and coupled to a first tower in accordance with an
illustrative
embodiment;
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Figure 11 is an illustration of an isometric view of one stage in the assembly
process for building a fuselage assembly that is being supported by an
assembly
fixture in accordance with an illustrative embodiment;
Figure 12 is an illustration of an isometric view of another stage in the
assembly process for building a fuselage assembly in accordance with an
illustrative
embodiment;
Figure 13 is an illustration of an isometric view of another stage in the
assembly process for building a fuselage assembly being supported by an
assembly
fixture in accordance with an illustrative embodiment;
Figure 14 is an illustration of an isometric view of another stage in the
assembly process for building a fuselage assembly in accordance with an
illustrative
embodiment;
Figure 15 is an illustration of an isometric view of a second tower coupled to
a
utility fixture and an assembly fixture supporting a fuselage assembly in
accordance
with an illustrative embodiment;
Figure 16 is an illustration of an isometric cutaway view of a plurality of
mobile
platforms performing fastening processes within an interior of a fuselage
assembly in
accordance with an illustrative embodiment;
Figure 17 is an illustration of a cross-sectional view of a flexible
manufacturing
system performing operations on a fuselage assembly in accordance with an
illustrative embodiment;
Figure 18 is an illustration of an isometric view of a fully built fuselage
assembly in accordance with an illustrative embodiment;
Figure 19 is an illustration of an isometric view of fuselage assemblies being
built within a manufacturing environment in accordance with an illustrative
embodiment;
Figure 20 is an illustration of an enlarged isometric view of a cradle fixture
in
accordance with an illustrative embodiment;
Figure 21 is an illustration of an enlarged isometric view of a cradle fixture
in
accordance with an illustrative embodiment;
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Figure 22 is an illustration of an isometric view of a dual-interface coupler
in
accordance with an illustrative embodiment;
Figure 23 is an illustration of a front view of a dual-interface coupler in
accordance with an illustrative embodiment;
Figure 24 is an illustration of an interface formed between a utilities unit
and
an external mobile platform in accordance with an illustrative embodiment;
Figure 25 is an illustration of a second coupling unit disengaged from a
second corresponding coupling unit in accordance with an illustrative
embodiment;
Figure 26 is an illustration of a process for coupling a number of utilities
between a first system and a second system in the form of a flowchart in
accordance
with an illustrative embodiment;
Figure 27 is an illustration of a process for coupling a number of utilities
between an external mobile platform and a cradle fixture in the form of a
flowchart in
accordance with an illustrative embodiment;
Figure 28 is an illustration of a process for decoupling a number of utilities
between an external mobile platform and a cradle fixture the form of a
flowchart in
accordance with an illustrative embodiment;
Figure 29 is an illustration of a data processing system in the form of a
block
diagram in accordance with an illustrative embodiment;
Figure 30 is an illustration of an aircraft manufacturing and service method
in
the form of a block diagram in accordance with an illustrative embodiment; and
Figure 31 is an illustration of an aircraft in the form of a block diagram in
which an illustrative embodiment may be implemented.
DETAILED DESCRIPTION
The illustrative embodiments recognize and take into account different
considerations. For example, the illustrative embodiments recognize and take
into
account that it may be desirable to automate the process of building a
fuselage
assembly for an aircraft. Automating the process of building a fuselage
assembly for
an aircraft may improve build efficiency, improve build quality, and reduce
costs
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associated with building the fuselage assembly. The illustrative embodiments
also
recognize and take into account that automating the process of building a
fuselage
assembly may improve the accuracy and precision with which assembly operations
are performed, thereby ensuring improved compliance with outer mold line (OML)
requirements and inner mold line (IML) requirements for the fuselage assembly.
Further, the illustrative embodiments recognize and take into account that
automating the process used to build a fuselage assembly for an aircraft may
significantly reduce the amount of time needed for the build cycle. For
example,
without limitation, automating fastening operations may reduce and, in some
cases,
eliminate, the need for human operators to perform these fastening operations
as
well as other types of assembly operations.
Further, this type of automation of the process for building a fuselage
assembly for an aircraft may be less labor-intensive, time-consuming,
ergonomically
challenging, and expensive than performing this process primarily manually.
Reduced manual labor may have a desired benefit for the human laborer.
Additionally, automating the fuselage assembly process may allow fuselage
assemblies to be built in desired assembly facilities and factories at desired
assembly
rates and desired assembly costs.
The illustrative embodiments also recognize and take into account that it may
be desirable to use equipment that can be autonomously driven and operated to
automate the process of building a fuselage assembly. In particular, it may be
desirable to have an autonomous flexible manufacturing system comprised of
mobile
systems that may be autonomously driven across a factory floor, autonomously
positioned relative to the factory floor as needed for building the fuselage
assembly,
autonomously operated to build the fuselage assembly, and then autonomously
driven away when building of the fuselage assembly has been completed.
As used herein, performing any operation, action, or step autonomously may
mean performing that operation substantially without any human input. For
example,
without limitation, a platform that may be autonomously driven is a platform
that may
be driven substantially independently of any human input. In this manner, an
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autonomously drivable platform may be a platform that is capable of driving or
being
driven substantially independently of human input.
Thus, the illustrative embodiments provide a method, apparatus, and system
for building a fuselage assembly for an aircraft. In
particular, the illustrative
embodiments provide an autonomous flexible manufacturing system that automates
most, if not all, of the process of building a fuselage assembly. For example,
without
limitation, the autonomous flexible manufacturing system may automate the
process
of installing fasteners to join fuselage skin panels and a fuselage support
structure
together to build the fuselage assembly. The illustrative embodiments provide
a
flexible manufacturing system that allows a fuselage assembly to be built in
an
austere manufacturing facility.
However, the illustrative embodiments recognize and take into account that
automating the process for building a fuselage assembly using an autonomous
flexible manufacturing system may present unique technical challenges that
require
unique technical solutions. For example, the illustrative embodiments
recognize and
take into account that it may be desirable to provide utilities to all of the
various
systems within the autonomous flexible manufacturing system. In particular, it
may
be desirable to provide these utilities in a manner that will not disrupt or
delay the
process of building the fuselage assembly or restrict the movement of various
mobile
systems within the autonomous flexible manufacturing system over a factory
floor.
For example, without limitation, it may be desirable to provide a set of
utilities,
such as power, communications, and air, to the autonomous flexible
manufacturing
system using an infrastructure that includes only a single direct connection
to each of
a set of utility sources providing the set of utilities. These direct
connections may be
above-ground, in-ground, or embedded. These
direct connections may be
established using, for example, without limitation, a utility fixture.
Thus, the
infrastructure may include a utility fixture that provides a direct connection
to each of
the set of utility sources and an assembly area with a floor space
sufficiently large to
allow the various systems of an autonomous flexible manufacturing system to be
coupled to the utility fixture and each other in series. In this manner, the
set of
utilities may flow from the set of utility sources to the utility fixture and
then
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downstream to the various systems of the autonomous flexible manufacturing
system
within the assembly area.
Thus, the illustrative embodiments provide a distributed utility network that
may be used to provide utilities to the various systems of the autonomous
flexible
manufacturing system. The distributed utility network may provide these
utilities in a
manner that does not restrict or impede movement of the various mobile systems
of
the autonomous flexible manufacturing system. The different mobile systems of
the
autonomous flexible manufacturing system may be autonomously coupled to each
other to create this distributed utility network.
Referring now to the figures and, in particular, with reference to Figures 1-
7,
illustrations of a manufacturing environment are depicted in the form of block
diagrams in accordance with an illustrative embodiment. In particular, in
Figures 1-
7, a fuselage assembly, a flexible manufacturing system, the various systems
within
the flexible manufacturing system that may be used to build the fuselage
assembly,
and a distributed utility network are described.
Turning now to Figure 1, an illustration of a manufacturing environment is
depicted in the form of a block diagram in accordance with an illustrative
embodiment. In this illustrative example, manufacturing environment 100 may be
an
example of one environment in which at least a portion of fuselage 102 may be
manufactured for aircraft 104.
Manufacturing environment 100 may take a number of different forms. For
example, without limitation, manufacturing environment 100 may take the form
of a
factory, a manufacturing facility, an outdoor factory area, an enclosed
manufacturing
area, an offshore platform, or some other type of manufacturing environment
100
suitable for building at least a portion of fuselage 102.
Fuselage 102 may be built using manufacturing process 108. Flexible
manufacturing system 106 may be used to implement at least a portion of
manufacturing process 108. In one illustrative example, manufacturing process
108
may be substantially automated using flexible manufacturing system 106. In
other
illustrative examples, only one or more stages of manufacturing process 108
may be
substantially automated.
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Flexible manufacturing system 106 may be configured to perform at least a
portion of manufacturing process 108 autonomously. In this manner, flexible
manufacturing system 106 may be referred to as autonomous flexible
manufacturing
system 112. In other illustrative examples, flexible manufacturing system 106
may
.. be referred to as an automated flexible manufacturing system.
As depicted, manufacturing process 108 may include assembly process 110
for building fuselage assembly 114. Flexible manufacturing system 106 may be
configured to perform at least a portion of assembly process 110 autonomously.
Fuselage assembly 114 may be fuselage 102 at any stage during
manufacturing process 108 prior to the completion of manufacturing process
108. In
some cases, fuselage assembly 114 may be used to refer to a partially
assembled
fuselage 102. Depending on the implementation, one or more other components
may need to be attached to fuselage assembly 114 to fully complete the
assembly of
fuselage 102. In other cases, fuselage assembly 114 may be used to refer to
the
fully assembled fuselage 102. Flexible manufacturing system 106 may build
fuselage assembly 114 up to the point needed to move fuselage assembly 114 to
a
next stage in the manufacturing process for building aircraft 104. In some
cases, at
least a portion of flexible manufacturing system 106 may be used at one or
more
later stages in the manufacturing process for building aircraft 104.
In one illustrative example, fuselage assembly 114 may be an assembly for
forming a particular section of fuselage 102. As one example, fuselage
assembly
114 may take the form of aft fuselage assembly 116 for forming an aft section
of
fuselage 102. In another example, fuselage assembly 114 may take the form of
forward fuselage assembly 117 for forming a forward section of fuselage 102.
In yet
another example, fuselage assembly 114 may take the form of middle fuselage
assembly 118 for forming a center section of fuselage 102 or some other middle
section of fuselage 102 between the aft and forward sections of fuselage 102.
As depicted, fuselage assembly 114 may include plurality of panels 120 and
support structure 121. Support structure 121 may be comprised of plurality of
members 122. Plurality of members 122 may be used to both support plurality of
CA 02894299 2015-06-15
panels 120 and connect plurality of panels 120 to each other. Support
structure 121
may help provide strength, stiffness, and load support for fuselage assembly
114.
Plurality of members 122 may be associated with plurality of panels 120. As
used herein, when one component or structure is "associated" with another
component or structure, the association is a physical association in the
depicted
examples.
For example, a first component, such as one of plurality of members 122, may
be considered to be associated with a second component, such as one of
plurality of
panels 120, by being at least one of secured to the second component, bonded
to
the second component, mounted to the second component, attached to the
component, coupled to the component, welded to the second component, fastened
to
the second component, adhered to the second component, glued to the second
component, or connected to the second component in some other suitable manner.
The first component also may be connected to the second component using one or
more other components. For example, the first component may be connected to
the
second component using a third component. Further, the first component may be
considered to be associated with the second component by being formed as part
of
the second component, an extension of the second component, or both. In
another
example, the first component may be considered part of the second component by
being co-cured with the second component.
As used herein, the phrase "at least one of," when used with a list of items,
means different combinations of one or more of the listed items may be used
and
only one of the items in the list may be needed. The item may be a particular
object,
thing, action, process, or category. In other words, "at least one of" means
any
combination of items or number of items may be used from the list, but not all
of the
items in the list may be required.
For example, "at least one of item A, item B, and item C" or "at least one of
item A, item B, or item C" may mean item A; item A and item B; item B; item A,
item
B, and item C; or item B and item C. In some cases, "at least one of item A,
item B,
and item C" may mean, for example, without limitation, two of item A, one of
item B,
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and ten of item C; four of item B and seven of item C; or some other suitable
combination.
In these illustrative examples, a member of plurality of members 122 may be
associated with at least one of plurality of panels 120 in a number of
different ways.
For example, without limitation, a member of plurality of members 122 may be
attached directly to a single panel, attached to two or more panels, attached
to
another member that is directly attached to at least one panel, attached to at
least
one member that is directly or indirectly attached to at least one panel, or
associated
with at least one of plurality of panels 120 in some other way.
In one illustrative example, substantially all or all of plurality of members
122
may be associated with plurality of panels 120 prior to the beginning of
assembly
process 110 for building fuselage assembly 114. For example, a corresponding
portion of plurality of members 122 may be associated with each panel of
plurality of
panels 120 prior to plurality of panels 120 being joined to each other through
assembly process 110.
In another illustrative example, only a first portion of plurality of members
122
may be associated with plurality of panels 120 prior to the beginning of
assembly
process 110. Assembly process 110 may include attaching a remaining portion of
plurality of members 122 to plurality of panels 120 for at least one of
providing
.. support to plurality of panels 120 or connecting plurality of panels 120
together. The
first portion of plurality of members 122 attached to plurality of panels 120
prior to
assembly process 110 and the remaining portion of plurality of members 122
attached to plurality of panels 120 during assembly process 110 may together
form
support structure 121.
In yet another illustrative example, all of plurality of members 122 may be
associated with plurality of panels 120 during assembly process 110. For
example,
each of plurality of panels 120 may be "naked" without any members attached to
or
otherwise associated with the panel prior to assembly process 110. During
assembly
process 110, plurality of members 122 may then be associated with plurality of
panels 120.
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In this manner, support structure 121 for fuselage assembly 114 may be built
up in a number of different ways. Fuselage assembly 114 comprising plurality
of
panels 120 and support structure 121 is described in greater detail in Figure
2 below.
Building fuselage assembly 114 may include joining plurality of panels 120
together. Joining plurality of panels 120 may be performed in a number of
different
ways. Depending on the implementation, joining plurality of panels 120
together may
include joining one or more of plurality of members 122 to one or more of
plurality of
panels 120 or to other members of plurality of members 122.
In particular, joining plurality of panels 120 may include joining at least
one
panel to at least one other panel, joining at least one member to at least one
other
member, or joining at least one member to at least one panel, or some
combination
thereof. As one illustrative example, joining a first panel and a second panel
together
may include at least one of the following: fastening the first panel directly
to the
second panel, joining a first member associated with the first panel to a
second
member associated with the second panel, joining a member associated with the
first
panel directly to the second panel, joining one member associated with both
the first
panel and the second panel to another member, joining a selected member to
both
the first panel and the second panel, or some other type of joining operation.
Assembly process 110 may include operations 124 that may be performed to
join plurality of panels 120 together to build fuselage assembly 114. In this
illustrative
example, flexible manufacturing system 106 may be used to perform at least a
portion of operations 124 autonomously.
Operations 124 may include, for example, but are not limited to, temporary
connection operations 125, drilling operations 126, fastener insertion
operations 128,
fastener installation operations 130, inspection operations 132, other types
of
assembly operations, or some combination thereof.
Temporary connection
operations 125 may be performed to temporarily connect plurality of panels 120
together. For example, without limitation, temporary connection operations 125
may
include temporarily tacking plurality of panels 120 together using tack
fasteners.
Drilling operations 126 may include drilling holes through one or more of
plurality of panels 120 and, in some cases, through one or more of plurality
of
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members 122. Fastener insertion operations 128 may include inserting fasteners
into the holes drilled by drilling operations 126.
Fastener installation operations 130 may include fully installing each of the
fasteners that have been inserted into the holes. Fastener installation
operations 130
may include, for example, without limitation, riveting operations,
interference-fit
bolting operations, other types of fastener installation operations, or some
combination thereof. Inspection operations 132 may include inspecting the
fully
installed fasteners. Depending on the implementation, flexible manufacturing
system
106 may be used to perform any number of these different types of operations
124
substantially autonomously.
As depicted, flexible manufacturing system 106 may include plurality of mobile
systems 134, control system 136, and utility system 138. Each of plurality of
mobile
systems 134 may be a drivable mobile system. In some cases, each of plurality
of
mobile systems 134 may be an autonomously drivable mobile system. For example,
without limitation, each of plurality of mobile systems 134 may include one or
more
components that may be autonomously driven within manufacturing environment
100
from one location to another location. Plurality of mobile systems 134 are
described
in greater detail in Figure 3 below.
In this illustrative example, control system 136 may be used to control the
operation of flexible manufacturing system 106. For example, without
limitation,
control system 136 may be used to control plurality of mobile systems 134. In
particular, control system 136 may be used to direct the movement of each of
plurality of mobile systems 134 within manufacturing environment 100. Control
system 136 may be at least partially associated with plurality of mobile
systems 134.
In one illustrative example, control system 136 may include set of controllers
140. As used herein, a "set of" items may include one or more items. In this
manner,
set of controllers 140 may include one or more controllers.
Each of set of controllers 140 may be implemented using hardware, firmware,
software, or some combination thereof. In one illustrative example, set of
controllers
140 may be associated with plurality of mobile systems 134. For example,
without
limitation, one or more of set of controllers 140 may be implemented as part
of
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CA 02894299 2015-06-15
plurality of mobile systems 134. In other examples, one or more of set of
controllers
140 may be implemented independently of plurality of mobile systems 134.
Set of controllers 140 may generate commands 142 to control the operation of
plurality of mobile systems 134 of flexible manufacturing system 106. Set of
controllers 140 may communicate with plurality of mobile systems 134 using at
least
one of a wireless communications link, a wired communications link, an optical
communications link, or other type of communications link. In this manner, any
number of different types of communications links may be used for
communication
with and between set of controllers 140.
In these illustrative examples, control system 136 may control the operation
of
plurality of mobile systems 134 using data 141 received from sensor system
133.
Sensor system 133 may be comprised of any number of individual sensor systems,
sensor devices, controllers, other types of components, or combination
thereof. In
one illustrative example, sensor system 133 may include laser tracking system
135
and radar system 137. Laser tracking system 135 may be comprised of any number
of laser tracking devices, laser targets, or combination thereof. Radar system
137
may be comprised of any number of radar sensors, radar targets, or combination
thereof.
Sensor system 133 may be used to coordinate the movement and operation of
the various mobile systems in plurality of mobile systems 134 within
manufacturing
environment 100. As one illustrative example, radar system 137 may be used for
macro-positioning mobile systems, systems within mobile systems, components
within mobile systems, or some combination thereof. Further, laser tracking
system
135 may be used for micro-positioning mobile systems, systems within mobile
systems, components within mobile systems, or some combination thereof.
Plurality of mobile systems 134 may be used to form distributed utility
network
144. Depending on the implementation, one or more of plurality of mobile
systems
134 may form distributed utility network 144. Number of utilities 146 may flow
from
number of utility sources 148 to the various mobile systems of plurality of
mobile
systems 134 that make up distributed utility network 144.
CA 02894299 2015-06-15
In this illustrative example, each of number of utility sources 148 may be
located with manufacturing environment 100. In other illustrative examples,
one or
more of number of utility sources 148 may be located outside of manufacturing
environment 100. The corresponding utility provided by these one or more
utility
sources may then be carried into manufacturing environment 100 using, for
example,
without limitation, one or more utility cables.
In one illustrative example, distributed utility network 144 may allow number
of
utilities 146 to flow directly from number of utility sources 148 to one
mobile system in
plurality of mobile systems 134 over some number of utility cables. This one
mobile
system may then distribute number of utilities 146 to other mobile systems of
plurality
of mobile systems 134 such that these other mobile systems do not need to
directly
receive number of utilities 146 from number of utility sources 148.
As depicted, distributed utility network 144 may be formed using utility
system
138. Utility system 138 may include utility fixture 150. Utility system 138
may be
configured to connect to number of utility sources 148 such that number of
utilities
146 may flow from number of utility sources 148 to utility fixture 150.
Utility fixture
150 may be above-ground or in-ground, depending on the implementation. For
example, without limitation, utility fixture 150 may be embedded in a floor
within
manufacturing environment 100.
Utility fixture 150 may then distribute number of utilities 146 to one or more
of
plurality of mobile systems 134. In particular, one autonomous coupling of one
of
plurality of mobile systems 134 to utility fixture 150 may be followed by any
number
of autonomous couplings of mobile systems to each other in series to form
distributed utility network 144. Utility fixture 150 may distribute number of
utilities 146
to each of plurality of mobile systems 134 downstream of utility fixture 150
in the
series of autonomous couplings of the mobile systems.
Depending on the implementation, distributed utility network 144 may have a
chain-like configuration or a tree-like configuration. In
one illustrative example,
plurality of mobile systems 134 may include mobile systems A, B, C, and D (not
shown in figure) with mobile system A autonomously coupled to utility fixture
150 and
mobile systems B, C, and D autonomously coupled to mobile system A and each
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CA 02894299 2015-06-15
other in series. An example of a chain-like configuration for distributed
utility network
144 may include number of utilities 146 flowing from number of utility sources
148
over some number of utility cables to utility fixture 150, from utility
fixture 150 to
mobile system A, from mobile system A to mobile system B, from mobile system B
to
.. mobile system C, and from mobile system C to mobile system D. An example of
a
tree-like configuration for distributed utility network 144 may include number
of
utilities 146 flowing from number of utility sources 148 over some number of
utility
cables to utility fixture 150, from utility fixture 150 to mobile system A,
from mobile
system A to both mobile system B and mobile system C, and from mobile system C
to mobile system D. An example of one manner in which distributed utility
network
144 may be implemented using plurality of mobile systems 134 is described in
greater detail in Figure 5 below.
In some illustrative examples, multiple flexible manufacturing systems may be
used to build multiple fuselage assemblies concurrently. For example, flexible
manufacturing system 106 may be a first flexible manufacturing system of many
flexible manufacturing systems.
In one illustrative example, flexible manufacturing system 106, second
flexible
manufacturing system 152, and third flexible manufacturing system 154 may be
used
to build aft fuselage assembly 116, middle fuselage assembly 118, and forward
fuselage assembly 117, respectively. Aft fuselage assembly 116, middle
fuselage
assembly 118, and forward fuselage assembly 117 may then be joined together to
form a fully assembled fuselage 102. In this manner, in this example, flexible
manufacturing system 106, second flexible manufacturing system 152, and third
flexible manufacturing system 154 may together form flexible fuselage
manufacturing
system 158.
Thus, any number of fuselage assemblies, such as fuselage assembly 114,
may be built within manufacturing environment 100 using any number of flexible
manufacturing systems implemented in a manner similar to flexible
manufacturing
system 106. Similarly, any number of full fuselages, such as fuselage 102, may
be
built within manufacturing environment 100 using any number of flexible
fuselage
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CA 02894299 2015-06-15
manufacturing systems implemented in a manner similar to flexible fuselage
manufacturing system 158.
With reference now to Figure 2, an illustration of fuselage assembly 114 from
Figure 1 is depicted in the form of a block diagram in accordance with an
illustrative
embodiment. As described above, fuselage assembly 114 may include plurality of
panels 120 and support structure 121. Fuselage assembly 114 may be used to
refer
to any stage in the building of fuselage assembly 114. For example, fuselage
assembly 114 may be used to refer to a single one of plurality of panels 120,
multiple
ones of plurality of panels 120 that have been or are being joined together, a
partially
built fuselage assembly, or a fully built fuselage assembly.
As depicted, fuselage assembly 114 may be built such that fuselage assembly
114 has plurality of fuselage sections 205. Each of plurality of fuselage
sections 205
may include one or more of plurality of panels 120. In this illustrative
example, each
of plurality of fuselage sections 205 may take the form of a cylindrically-
shaped
fuselage section, a barrel-shaped fuselage section, a tapered cylindrical
fuselage
section, a cone-shaped fuselage section, a dome-shaped fuselage section, or a
section having some other type of shape. Depending on the implementation, a
fuselage section of plurality of fuselage sections 205 may have a shape that
has a
substantially circular cross-sectional shape, elliptical cross-sectional
shape, oval
cross-sectional shape, polygon with rounded corners cross-sectional shape, or
otherwise closed-curve cross-sectional shape.
As one specific illustrative example, each of plurality of fuselage sections
205
may be a portion of fuselage assembly 114 defined between two radial cross-
sections of fuselage assembly 114 that are taken substantially perpendicular
to a
center axis or longitudinal axis through fuselage assembly 114. In this
manner,
plurality of fuselage sections 205 may be arranged along the longitudinal axis
of
fuselage assembly 114. In other words, plurality of fuselage sections 205 may
be
arranged longitudinally.
Fuselage section 207 may be an example of one of plurality of fuselage
sections 205. Fuselage section 207 may be comprised of one or more of
plurality of
panels 120. In one illustrative example, multiple panel sections may be
arranged
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CA 02894299 2015-06-15
circumferentially around fuselage section 207 to form the skin of fuselage
section
207. In some cases, multiple rows of two or more longitudinally adjacent
panels may
be arranged circumferentially around fuselage section 207 to form the skin of
fuselage section 207.
In one illustrative example, fuselage assembly 114 may have crown 200, keel
202, and sides 204. Sides 204 may include first side 206 and second side 208.
Crown 200 may be the top portion of fuselage assembly 114. Keel 202 may
be the bottom portion of fuselage assembly 114. Sides 204 of fuselage assembly
114 may be the portions of fuselage assembly 114 between crown 200 and keel
202.
In one illustrative example, each of crown 200, keel 202, first side 206, and
second
side 208 of fuselage assembly 114 may be formed by at least a portion of at
least
one of plurality of panels 120. Further, a portion of each of plurality of
fuselage
sections 205 may form each of crown 200, keel 202, first side 206, and second
side
208.
Panel 216 may be an example of one of plurality of panels 120. Panel 216
may also be referred to as a skin panel, a fuselage panel, or a fuselage skin
panel,
depending on the implementation. In some illustrative examples, panel 216 may
take
the form of a mega-panel comprised of multiple smaller panels, which may be
referred to as sub-panels. A mega-panel may also be referred to as a super
panel.
In these illustrative examples, panel 216 may be comprised of at least one of
a metal,
a metal alloy, some other type of metallic material, a composite material, or
some
other type of material. As one illustrative example, panel 216 may be
comprised of
an aluminum alloy, steel, titanium, a ceramic material, a composite material,
some
other type of material, or some combination thereof.
When used to form keel 202 of fuselage assembly 114, panel 216 may be
referred to as a keel panel or a bottom panel. When used to form one of sides
204 of
fuselage assembly 114, panel 216 may be referred to as a side panel. When used
to
form crown 200 of fuselage assembly 114, panel 216 may be referred to as a
crown
panel or a top panel. As one illustrative example, plurality of panels 120 may
include
crown panels 218 for forming crown 200, side panels 220 for forming sides 204,
and
keel panels 222 for forming keel 202. Side panels 220 may include first side
panels
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CA 02894299 2015-06-15
224 for forming first side 206 and second side panels 226 for forming second
side
208.
In one illustrative example, fuselage section 207 of plurality of fuselage
sections 205 of fuselage assembly 114 may include one of crown panels 218, two
of
side panels 220, and one of keel panels 222. In another illustrative example,
fuselage section 207 may form an end of fuselage assembly 114.
In some cases, fuselage section 207 may be comprised solely of a single
panel, such as panel 216. For example, without limitation, panel 216 may take
the
form of end panel 228.
End panel 228 may be used to form one end of fuselage assembly 114. For
example, when fuselage assembly 114 takes the form of aft fuselage assembly
116
in Figure 1, end panel 228 may form the aftmost end of fuselage assembly 114.
When fuselage assembly 114 takes the form of forward fuselage assembly 117 in
Figure 1, end panel 228 may form the forward most end of fuselage assembly
114.
In one illustrative example, end panel 228 may take the form of a
cylindrically-
shaped panel, a cone-shaped panel, a barrel-shaped panel, or a tapered
cylindrical
panel. For example, end panel 228 may be a single cylindrically-shaped panel
having a substantially circular cross-sectional shape that may change in
diameter
with respect to a center axis for fuselage assembly 114.
In this manner, as described above, fuselage section 207 may be comprised
solely of end panel 228. In some illustrative examples, fuselage section 207
may be
an end fuselage section that is comprised of only a single panel, which may be
end
panel 228. In some cases, bulkhead 272 may be associated with end panel 228
when fuselage section 207 is an end fuselage section. Bulkhead 272, which may
also be referred to as a pressure bulkhead, may be considered separate from or
part
of end panel 228, depending on the implementation. Bulkhead 272 may have a
dome-type shape in these illustrative examples.
When fuselage assembly 114 takes the form of aft fuselage assembly 116 in
Figure 1, bulkhead 272 may be part of fuselage section 207 located at the
aftmost
end of aft fuselage assembly 116. When fuselage assembly 114 takes the form of
forward fuselage assembly 117 in Figure 1, bulkhead 272 may be part of
fuselage
CA 02894299 2015-06-15
section 207 located at forwardmost end of aft fuselage assembly 116. Middle
fuselage assembly 118 in Figure 1 may not include a bulkhead, such as bulkhead
272, at either end of middle fuselage assembly 118. In this manner, plurality
of
fuselage sections 205 may be implemented in any number of different ways.
Panel 216 may have first surface 230 and second surface 232. First surface
230 may be configured for use as an exterior-facing surface. In other words,
first
surface 230 may be used to form exterior 234 of fuselage assembly 114. Second
surface 232 may be configured for use as an interior-facing surface. In other
words,
second surface 232 may be used to form interior 236 of fuselage assembly 114.
Each of plurality of panels 120 may be implemented in a manner similar to
panel 216.
As described earlier, support structure 121 may be associated with a
corresponding one of plurality of panels 120. Support structure 121 may be
comprised of plurality of members 122 that are associated with panel 216. In
one
illustrative example, corresponding portion 240 may be the portion of
plurality of
members 122 that correspond to panel 216. Corresponding portion 240 may form
support section 238 corresponding to panel 216. Support section 238 may form a
part of support structure 121.
Plurality of members 122 may include support members 242. Support
members 242 may include, for example, without limitation, at least one of
connecting
members 244, frames 246, stringers 248, stiffeners 250, stanchions 252,
intercostal
structural members 254, or other types of structural members.
Connecting members 244 may connect other types of support members 242
together. In some cases, connecting members 244 may also connect support
members 242 to plurality of panels 120. Connecting members 244 may include,
for
example, without limitation, shear clips 256, ties 258, splices 260,
intercostal
connecting members 262, other types of mechanical connecting members, or some
combination thereof.
In one illustrative example, when panel 216 is comprised of multiple sub-
panels, connecting members 244 may be used to, for example, without
limitation,
connect together complementary frames of frames 246 running in the hoop-wise
direction on adjacent sub-panels and complementary stringers of stringers 248
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CA 02894299 2015-06-15
running in the longitudinal direction on adjacent sub-panels. In other
illustrative
examples, connecting members 244 may be used to connect together
complementary frames, stringers, or other types of support members on two or
more
adjacent panels in plurality of panels 120. In some cases, connecting members
244
may be used to connect together complementary support members on two or more
adjacent fuselage sections.
Operations 124, as described in Figure 1, may be performed to join plurality
of
panels 120 together to build fuselage assembly 114. In one illustrative
example,
plurality of fasteners 264 may be used to join plurality of panels 120
together.
As described above, joining plurality of panels 120 together may be performed
in a number of different ways. Joining plurality of panels 120 together may
include at
least one of joining at least one panel in plurality of panels 120 to another
one of
plurality of panels 120, joining at least one panel in plurality of panels 120
to at least
one of plurality of members 122, joining at least one member in plurality of
members
122 to another one of plurality of members 122, or some other type of joining
operation. Plurality of panels 120 may be joined together such that plurality
of
members 122 ultimately form support structure 121 for fuselage assembly 114.
As depicted, number of floors 266 may be associated with fuselage assembly
114. In this illustrative example, number of floors 266 may be part of
fuselage
assembly 114. Number of floors 266 may include, for example, without
limitation, at
least one of a passenger floor, a cargo floor, or some other type of floor.
With reference now to Figure 3, an illustration of plurality of mobile systems
134 of flexible manufacturing system 106 within manufacturing environment 100
from
Figure 1 is depicted in the form of a block diagram in accordance with an
illustrative
embodiment. As depicted, flexible manufacturing system 106 may be used to
build
fuselage assembly 114 on floor 300 of manufacturing environment 100. When
manufacturing environment 100 takes the form of a factory, floor 300 may be
referred
to as factory floor 302.
In one illustrative example, floor 300 may be substantially smooth and
substantially planar. For example, floor 300 may be substantially level. In
other
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CA 02894299 2015-06-15
illustrative examples, one or more portions of floor 300 may be sloped,
ramped, or
otherwise uneven.
Assembly area 304 may be an area within manufacturing environment 100
designated for performing assembly process 110 in Figure 1 to build a fuselage
assembly, such as fuselage assembly 114. Assembly area 304 may also be
referred
to as a cell or a work cell. In this illustrative example, assembly area 304
may be a
designated area on floor 300. However, in other illustrative examples,
assembly area
304 may include a designated area on floor 300 as well as the area above this
designated area. Any number of assembly areas may be present within
manufacturing environment 100 such that any number of fuselage assemblies may
be built concurrently within manufacturing environment 100.
As depicted, plurality of mobile systems 134 may include plurality of
autonomous vehicles 306, cradle system 308, tower system 310, and autonomous
tooling system 312. Each of plurality of mobile systems 134 may be drivable
across
floor 300. In other words, each of plurality of mobile systems 134 may be
capable of
being autonomously driven across floor 300 from one location 315 to another
location
317 on floor 300.
In one illustrative example, each of plurality of autonomous vehicles 306 may
take the form of an automated guided vehicle (AGV), which may be capable of
operating independently without human direction or guidance. In some cases,
plurality of autonomous vehicles 306 may be referred to as a plurality of
automated
guided vehicles (AGVs).
In this illustrative example, cradle system 308 may be used to support and
hold fuselage assembly 114 during assembly process 110 in Figure 1. In some
cases, cradle system 308 may be referred to as a drivable cradle system. In
still
other cases, cradle system 308 may be referred to as an autonomously drivable
cradle system.
Cradle system 308 may include number of fixtures 313. As used herein, a
"number of" items may include one or more items. In this manner, number of
fixtures
313 may include one or more fixtures. In some illustrative examples, number of
fixtures 313 may be referred to as a number of drivable fixtures. In other
illustrative
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CA 02894299 2015-06-15
examples, number of fixtures 313 may be referred to as a number of
autonomously
drivable fixtures.
Number of fixtures 313 may include number of cradle fixtures 314. In some
illustrative examples, number of cradle fixtures 314 may be referred to as a
number
of drivable cradle fixtures. In other illustrative examples, number of cradle
fixtures
314 may be referred to as a number of autonomously drivable cradle fixtures.
Cradle
fixture 322 may be an example of one of number of cradle fixtures 314.
Number of retaining structures 326 may be associated with each of number of
cradle fixtures 314. Number of retaining structures 326 associated with each
of
number of cradle fixtures 314 may be engaged with and used to support fuselage
assembly 114. For example, number of retaining structures 326 associated with
cradle fixture 322 may be engaged with and used to support one or more of
plurality
of panels 120.
Number of cradle fixtures 314 may be autonomously driven across floor 300 of
manufacturing environment 100 to assembly area 304. In one illustrative
example,
each of number of cradle fixtures 314 may be autonomously driven across floor
300
using a corresponding one of plurality of autonomous vehicles 306. In other
words,
without limitation, number of corresponding autonomous vehicles 316 in
plurality of
autonomous vehicles 306 may be used to drive number of cradle fixtures 314
across
.. floor 300 into assembly area 304.
In this illustrative example, number of corresponding autonomous vehicles 316
may drive from, for example, without limitation, holding area 318, across
floor 300, to
assembly area 304. Holding area 318 may be an area in which at least one of
plurality of autonomous vehicles 306, cradle system 308, tower system 310,
autonomous tooling system 312, or control system 136 from Figure 1 may be held
when flexible manufacturing system 106 is not in use or when that particular
device
or system is not in use.
Holding area 318 may be referred to as a home area, a storage area, or a
base area, depending on the implementation. Although holding area 318 is
depicted
as being located within manufacturing environment 100, holding area 318 may be
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CA 02894299 2015-06-15
located in some other area or environment outside of manufacturing environment
100
in other illustrative examples.
Number of corresponding autonomous vehicles 316 in plurality of autonomous
vehicles 306 may drive number of cradle fixtures 314 into number of selected
cradle
positions 320. As used herein, a "position" may be comprised of a location, an
orientation, or both. The location may be in two-dimensional coordinates or
three-
dimensional coordinates with respect to a reference coordinate system. The
orientation may be a two-dimensional or three-dimensional orientation with
respect to
a reference coordinate system. This reference coordinate system may be, for
example, without limitation, a fuselage coordinate system, an aircraft
coordinate
system, a coordinate system for manufacturing environment 100, or some other
type
of coordinate system.
When number of cradle fixtures 314 includes more than one cradle fixture
such that number of selected cradle positions 320 includes more than one
cradle
position, these cradle positions may be positions selected relative to each
other. In
this manner, number of cradle fixtures 314 may be positioned such that number
of
cradle fixtures 314 are in number of selected cradle positions 320 relative to
each
other.
In these illustrative examples, number of corresponding autonomous vehicles
316 may be used to drive number of cradle fixtures 314 into number of selected
cradle positions 320 within assembly area 304. "Driving" a component or a
system
across floor 300 may mean, for example, but not limited to, moving
substantially the
entirety of that component or system from one location to another location.
For
example, without limitation, driving cradle fixture 322 across floor 300 may
mean
moving the entirety of cradle fixture 322 from one location to another
location. In
other words, all or substantially all components that comprise cradle fixture
322 may
be simultaneously moved together from one location to another location.
Once number of cradle fixtures 314 has been driven into number of selected
cradle positions 320 in assembly area 304, number of cradle fixtures 314 may
be
coupled to each other and to tower system 310. Number of corresponding
autonomous vehicles 316 may then drive away from number of cradle fixtures 314
to,
CA 02894299 2015-06-15
for example, without limitation, holding area 318, once number of cradle
fixtures 314
is positioned in number of selected cradle positions 320 within selected
tolerances.
In other illustrative examples, number of corresponding autonomous vehicles
316
may be comprised of a single autonomous vehicle that is used to drive each of
number of cradle fixtures 314 into a corresponding selected position in number
of
selected cradle positions 320 within assembly area 304 one at a time.
In assembly area 304, number of cradle fixtures 314 may be configured to
form assembly fixture 324. Assembly fixture 324 may be formed when the
different
cradle fixtures in number of cradle fixtures 314 have been placed in number of
selected cradle positions 320 relative to each other. In some cases, assembly
fixture
324 may be formed when number of cradle fixtures 314 have been coupled to each
other while number of cradle fixtures 314 is in number of selected cradle
positions
320 and when number of retaining structures 326 associated with each of number
of
cradle fixtures 314 has been adjusted to receive fuselage assembly 114.
In this manner, number of cradle fixtures 314 may form a single fixture
entity,
such as assembly fixture 324. Assembly fixture 324 may be used to support and
hold fuselage assembly 114. In some cases, assembly fixture 324 may be
referred
to as an assembly fixture system or a fixture system. In some cases, assembly
fixture 324 may be referred to as a drivable assembly fixture. In other cases,
assembly fixture 324 may be referred to as an autonomously drivable assembly
fixture.
Once assembly fixture 324 has been formed, number of cradle fixtures 314
may receive fuselage assembly 114. In other words, plurality of fuselage
sections
205 may be engaged with number of cradle fixtures 314. In particular,
plurality of
fuselage sections 205 may be engaged with number of retaining structures 326
associated with each of number of cradle fixtures 314. Plurality of fuselage
sections
205 may be engaged with number of cradle fixtures 314 in any number of ways.
When number of cradle fixtures 314 includes a single cradle fixture, that
cradle
fixture may be used to support and hold substantially the entire fuselage
assembly
114. When number of cradle fixtures 314 includes multiple cradle fixtures,
each of
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CA 02894299 2015-06-15
these cradle fixtures may be used to support and hold at least one
corresponding
fuselage section of plurality of fuselage sections 205.
In one illustrative example, each of plurality of fuselage sections 205 may be
engaged with number of cradle fixtures 314 one at a time. For example, without
limitation, all of the panels for a particular fuselage section in plurality
of fuselage
sections 205 may be positioned relative to each other and a corresponding
cradle
fixture in number of cradle fixtures 314 and then engaged with the
corresponding
cradle fixture. The remaining fuselage sections in plurality of fuselage
sections 205
may then be formed and engaged with number of cradle fixtures 314 in a similar
manner. In this manner, plurality of panels 120 may be engaged with number of
cradle fixtures 314 by engaging at least a portion of plurality of panels 120
with
number of retaining structures 326 associated with each of number of cradle
fixtures
314 that makes up assembly fixture 324 such that plurality of panels 120 is
supported
by number of cradle fixtures 314.
As described in Figure 2, plurality of panels 120 may include keel panels 222,
side panels 220, and crown panels 218. In one illustrative example, all of
keel panels
222 in Figure 2 used to form keel 202 of fuselage assembly 114 in Figure 2 may
first
be positioned relative to and engaged with number of cradle fixtures 314.
Next, all of
side panels 220 in Figure 2 used to form sides 204 of fuselage assembly 114 in
Figure 2 may be positioned relative to and engaged with keel panels 222. Then,
all
of crown panels 218 in Figure 2 used to form crown 200 of fuselage assembly
114 in
Figure 2 may be positioned relative to and engaged with side panels 220. In
this
manner, plurality of fuselage sections 205 may be concurrently assembled to
form
fuselage assembly 114.
In one illustrative example, each panel in plurality of panels 120 may have a
corresponding portion of plurality of members 122 fully formed and associated
with
the panel prior to the panel being engaged with one of number of cradle
fixtures 314.
This corresponding portion of plurality of members 122 may be referred to as a
support section. For example, support section 238 in Figure 2 may be fully
formed
and associated with panel 216 in Figure 2 prior to panel 216 being engaged
with one
of number of cradle fixtures 314 or another panel of plurality of panels 120
in Figure
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CA 02894299 2015-06-15
2. In other words, a corresponding portion of support members 242 in Figure 2
may
already be attached to panel 216 and a corresponding portion of connecting
members 244 in Figure 2 already installed to connect this portion of support
members 242 to each other prior to panel 216 from Figure 2 being engaged with
one
of number of cradle fixtures 314.
In other illustrative examples, plurality of members 122 may be associated
with plurality of panels 120 after plurality of panels 120 have been engaged
with each
other and number of cradle fixtures 314. In still other illustrative examples,
only a
portion of plurality of members 122 may be associated with plurality of panels
120
prior to plurality of panels 120 being engaged with each other and number of
cradle
fixtures 314 and then a remaining portion of plurality of members 122
associated with
plurality of panels 120 once plurality of panels 120 have been engaged with
each
other and number of cradle fixtures 314.
In some illustrative examples, one or more of support members 242 in Figure
2, one or more of connecting members 244 in Figure 2, or both may not be
associated with panel 216 when panel 216 from Figure 2 is engaged with one of
number of cradle fixtures 314 or with one of the other panels in plurality of
panels
120. For example, without limitation, frames 246 described in Figure 2 may be
added to panel 216 from Figure 2 after panel 216 has been engaged with cradle
fixture 322. In another example, stiffeners 250 described in Figure 2 may be
added
to panel 216 from Figure 2 after panel 216 has been engaged with cradle
fixture 322.
Building fuselage assembly 114 may include engaging plurality of panels 120
with each other as plurality of panels 120 are built up on number of cradle
fixtures
314 of assembly fixture 324. For example, adjacent panels in plurality of
panels 120
may be connected by connecting at least a portion of the support members
associated with the panels. Depending on the implementation, at least one of
lap
splices, butt splices, or other types of splices may be used to connect the
adjacent
panels in addition to or in place of connecting the corresponding support
members of
the adjacent panels.
As one illustrative example, the support members associated with two
adjacent panels in plurality of panels 120 may be connected together using
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CA 02894299 2015-06-15
connecting members, thereby connecting the two adjacent panels. The two
support
members associated with these two adjacent panels may be, for example, without
limitation, spliced, tied, clipped, tacked, pinned, joined, or fastened
together in some
other manner.
When the two adjacent panels are hoop-wise adjacent,
complementary frames may be connected in the hoop-wise direction. When the two
adjacent panels are longitudinally adjacent, complementary stringers may be
connected in the longitudinal direction.
In some cases, connecting complementary stringers, frames, or other support
members on these two adjacent panels may be part of splicing these panels
together. Adjacent panels may be connected together using any number of panel
splices, stringer splices, frame splices, or other types of splices.
In one illustrative example, plurality of panels 120 may be temporarily
connected to each other by temporarily fastening at least one of plurality of
panels
120 or plurality of members 122 together using temporary fasteners or
permanent
fasteners. For example, without limitation, temporary clamps may be used to
temporarily connect and hold in place two of plurality of panels 120 together.
Temporarily connecting plurality of panels 120 together may be performed by at
least
one of temporarily connecting at least two plurality of panels 120 together,
temporarily connecting at least two plurality of members 122 together, or
temporarily
connecting at least one of plurality of panels 120 to at least one of
plurality of
members 122 such that plurality of members 122 associated with plurality of
panels
120 forms support structure 121 in Figure 2 for fuselage assembly 114.
As one illustrative example, plurality of panels 120 may be temporarily tacked
or pinned together using temporary fasteners 328 until plurality of fasteners
264 are
installed to join plurality of panels 120 together to form fuselage assembly
114.
Temporarily connecting plurality of panels 120 may temporarily connect
together
plurality of fuselage sections 205 from Figure 2 formed by plurality of panels
120.
Once plurality of fasteners 264 have been installed, temporary fasteners 328
may
then be removed.
In this manner, plurality of panels 120 may be connected together in a number
of different ways. Once plurality of panels 120 have been connected together,
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CA 02894299 2015-06-15
plurality of members 122 may be considered as forming support structure 121
for
fuselage assembly 114. Connecting plurality of panels 120 together and forming
support structure 121 may maintain desired compliance with outer mold line
requirements and inner mold line requirements for fuselage assembly 114. In
other
words, plurality of panels 120 may be held together in place relative to each
other
such that fuselage assembly 114 formed using plurality of panels 120 meets
outer
mold line requirements and inner mold line requirements for fuselage assembly
114
within selected tolerances.
In particular, assembly fixture 324 may support plurality of panels 120 and
support structure 121 associated with plurality of panels 120 such that
fuselage
assembly 114 built using plurality of panels 120 and support structure 121 has
a
shape and a configuration that is within selected tolerances. In this manner,
this
shape and configuration may be maintained within selected tolerances while
supporting plurality of panels 120 and plurality of members 122 associated
with
plurality of panels 120 during the building of fuselage assembly 114. This
shape may
be at least partially determined by, for example, without limitation, the
outer mold line
requirements and inner mold line requirements for fuselage assembly 114. In
some
cases, the shape may be at least partially determined by the location and
orientation
of the frames and stringers of fuselage assembly 114.
In some cases, when the assembly of plurality of panels 120 and support
structure 121 that comprise fuselage assembly 114 has reached a desired point,
number of corresponding autonomous vehicles 316 may drive assembly fixture 324
out of assembly area 304. For example, fuselage assembly 114 may be driven
across floor 300 into a different area within manufacturing environment 100,
from
floor 300 onto another floor in a different manufacturing environment, or from
floor
300 onto another floor in some other area or environment.
In one illustrative example, assembly fixture 324 may be driven to some other
location at which another assembly fixture is located such that the two
assembly
fixtures may be coupled to form a larger assembly fixture. As one illustrative
example, assembly fixture 324 may be used to hold and support aft fuselage
assembly 116 in Figure 1, while another assembly fixture implemented in a
manner
CA 02894299 2015-06-15
similar to assembly fixture 324 may be used to hold and support forward
fuselage
assembly 117 in Figure 1. Yet another assembly fixture implemented in a manner
similar to assembly fixture 324 may be used to hold and support middle
fuselage
assembly 118 in Figure 1.
Once these three fuselage assemblies have been built, the three assembly
fixtures may be brought together to form a larger assembly fixture for holding
aft
fuselage assembly 116, middle fuselage assembly 118, and forward fuselage
assembly 117 such that these three fuselage assemblies may be joined to form
fuselage 102 described in Figure 1. In particular, this larger assembly
fixture may
hold aft fuselage assembly 116, middle fuselage assembly 118, and forward
fuselage
assembly 117 in alignment with each other such that fuselage 102 may be built
within
selected tolerances.
In another illustrative example, a first assembly fixture and a second
assembly
fixture implemented in a manner similar to assembly fixture 324 may be used to
hold
and support aft fuselage assembly 116 and forward fuselage assembly 117,
respectively, from Figure 1. Once these two fuselage assemblies have been
built,
the two assembly fixtures may then be brought together to form a larger
assembly
fixture for holding the two fuselage assemblies such that these fuselage
assemblies
may be joined to form fuselage 102. The larger assembly fixture may hold aft
fuselage assembly 116 and forward fuselage assembly 117 in alignment with each
other such that fuselage 102 may be built within selected tolerances.
As depicted, tower system 310 includes number of towers 330. Tower 332
may be an example of one implementation for one of number of towers 330. Tower
332 may be configured to provide access to interior 236 of fuselage assembly
114
described in Figure 2. In some illustrative examples, tower 332 may be
referred to
as a drivable tower. In other illustrative examples, tower 332 may be referred
to as
an autonomously drivable tower.
In one illustrative example, tower 332 may take the form of first tower 334.
First tower 334 may also be referred to as an operator tower in some cases. In
another illustrative example, tower 332 may take the form of second tower 336.
Second tower 336 may also be referred to as a robotics tower in some cases. In
this
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CA 02894299 2015-06-15
manner, number of towers 330 may include both first tower 334 and second tower
336.
First tower 334 may be configured substantially for use by a human operator,
whereas second tower 336 may be configured substantially for use by a mobile
platform having at least one robotic device associated with the mobile
platform. In
other words, first tower 334 may allow a human operator to access and enter
interior
236 of fuselage assembly 114. Second tower 336 may allow a mobile platform to
access and enter interior 236 of fuselage assembly 114.
First tower 334 and second tower 336 may be positioned relative to assembly
fixture 324 at different times during assembly process 110. As one
illustrative
example, one of plurality of autonomous vehicles 306 may be used to move or
autonomously drive first tower 334 from holding area 318 into selected tower
position
338 within assembly area 304. Number of cradle fixtures 314 may then be
autonomously driven, using number of corresponding autonomous vehicles 316,
into
number of selected cradle positions 320 relative to first tower 334, which is
in
selected tower position 338 within assembly area 304.
Second tower 336 may be exchanged for first tower 334 at some later stage
during assembly process 110 in Figure 1. For example, one of plurality of
autonomous vehicles 306 may be used to autonomously drive first tower 334 out
of
assembly area 304 and back into holding area 318. The same autonomous vehicle
or a different autonomous vehicle in plurality of autonomous vehicles 306 may
then
be used to autonomously drive second tower 336 from holding area 318 into
selected
tower position 338 within assembly area 304 that was previously occupied by
first
tower 334. Depending on the implementation, first tower 334 may be later
exchanged for second tower 336.
In other illustrative examples, first tower 334 and second tower 336 may each
have an autonomous vehicle in plurality of autonomous vehicles 306 fixedly
associated with the tower. In other words, one of plurality of autonomous
vehicles
306 may be integrated with first tower 334 and one of plurality of autonomous
vehicles 306 may be integrated with second tower 336. For example, one of
plurality
of autonomous vehicles 306 may be considered part of or built into first tower
334.
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First tower 334 may then be considered capable of autonomously driving across
floor
300. In a similar manner, one of plurality of autonomous vehicles 306 may be
considered part of or built into second tower 336. Second tower 336 may then
be
considered capable of autonomously driving across floor 300.
Tower system 310 and assembly fixture 324 may be configured to form
interface 340 with each other. Interface 340 may be a physical interface
between
tower system 310 and assembly fixture 324. Tower system 310 may also be
configured to form interface 342 with utility system 138. In one illustrative
example,
interface 340 and interface 342 may be autonomously formed.
Interface 342 may be a physical interface between tower system 310 and
utility system 138. In these illustrative examples, in addition to being
physical
interfaces, interface 340 and interface 342 may also be utility interfaces.
For
example, with respect to the utility of power, interface 340 and interface 342
may be
considered electrical interfaces.
Utility system 138 is configured to distribute number of utilities 146 to
tower
system 310 when tower system 310 and utility system 138 are physically and
electrically coupled through interface 342. Tower system 310 may then
distribute
number of utilities 146 to assembly fixture 324 formed by cradle system 308
when
assembly fixture 324 and tower system 310 are physically and electrically
coupled
through interface 340. Number of utilities 146 may include at least one of
power, air,
hydraulic fluid, communications, water, or some other type of utility.
As depicted, utility system 138 may include utility fixture 150. Utility
fixture
150 may be configured to receive number of utilities 146 from number of
utility
sources 148. Number of utility sources 148 may include, for example, without
limitation, at least one of a power generator, a battery system, a water
system, an
electrical line, a communications system, a hydraulic fluid system, an air
tank, or
some other type of utility source. For example, utility fixture 150 may
receive power
from a power generator.
In one illustrative example, utility fixture 150 may be positioned relative to
assembly area 304. Depending on the implementation, utility fixture 150 may be
positioned inside assembly area 304 or outside of assembly area 304.
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In some illustrative examples, utility fixture 150 may be associated with
floor
300. Depending on the implementation, utility fixture 150 may be permanently
associated with floor 300 or temporarily associated with floor 300. In other
illustrative
examples, utility fixture 150 may be associated with some other surface of
manufacturing environment 100, such as a ceiling, or some other structure in
manufacturing environment 100. In some cases, utility fixture 150 may be
embedded
within floor 300.
In one illustrative example, first tower 334 may be autonomously driven into
selected tower position 338 with respect to floor 300 relative to utility
fixture 150 such
that interface 342 may be formed between first tower 334 and utility fixture
150.
Once interface 342 has been formed, number of utilities 146 may flow from
utility
fixture 150 to first tower 334. Assembly fixture 324 may then autonomously
form
interface 340 with first tower 334 to form a network of utility cables between
first
tower 334 and assembly fixture 324. Once both interface 342 and interface 340
have
been formed, number of utilities 146 received at utility fixture 150 may flow
from utility
fixture 150 to first tower 334 and to each of number of cradle fixtures 314
that forms
assembly fixture 324. In this manner, first tower 334 may function as a
conduit or
"middleman" for distributing number of utilities 146 to assembly fixture 324.
When interface 340 has been formed between second tower 336 and
assembly fixture 324 and interface 342 has been formed between second tower
336
and utility fixture 150, number of utilities 146 may be provided to second
tower 336
and assembly fixture 324 in a similar manner as described above. Thus, utility
fixture
150 may distribute number of utilities 146 to tower system 310 and assembly
fixture
324 without tower system 310 and cradle assembly fixture 324 having to
separately
connect to number of utility sources 148 or any other utility sources.
Autonomous tooling system 312 may be used to assemble plurality of panels
120 and support structure 121 while fuselage assembly 114 is being supported
and
held by assembly fixture 324. Autonomous tooling system 312 may include
plurality
of mobile platforms 344. Each of plurality of mobile platforms 344 may be
configured
to perform one or more of operations 124 in assembly process 110 described in
Figure 1. In particular, plurality of mobile platforms 344 may be autonomously
driven
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CA 02894299 2015-06-15
into selected positions relative to plurality of panels 120 within selected
tolerances to
autonomously perform operations 124 that join plurality of panels 120 together
to
build fuselage assembly 114. Plurality of mobile platforms 344 are described
in
greater detail in Figure 4 below.
In this illustrative example, set of controllers 140 in control system 136 may
generate commands 142 as described in Figure 1 to control the operation of at
least
one of cradle system 308, tower system 310, utility system 138, autonomous
tooling
system 312, or plurality of autonomous vehicles 306. Set of controllers 140 in
Figure
1 may communicate with at least one of cradle system 308, tower system 310,
utility
system 138, autonomous tooling system 312, or plurality of autonomous vehicles
306
using any number of wireless communications links, wired communications links,
optical communications links, other types of communications links, or
combination
thereof.
In this manner, plurality of mobile systems 134 of flexible manufacturing
system 106 may be used to automate the process of building fuselage assembly
114.
Plurality of mobile systems 134 may enable fuselage assembly 114 to be built
substantially autonomously with respect to joining together plurality of
panels 120 to
reduce the overall time, effort, and human resources needed.
Flexible manufacturing system 106 may build fuselage assembly 114 up to the
point needed to move fuselage assembly 114 to the next stage in manufacturing
process 108 for building fuselage 102 or the next stage in the manufacturing
process
for building aircraft 104, depending on the implementation. In some cases,
cradle
system 308 in the form of assembly fixture 324 may continue carrying and
supporting
fuselage assembly 114 during one or more of these later stages in
manufacturing
process 108 for building fuselage 102 and aircraft 104.
With reference now to Figure 4, an illustration of plurality of mobile
platforms
344 from Figure 3 is depicted in the form of a block diagram in accordance
with an
illustrative embodiment. As depicted, plurality of mobile platforms 344 may
include
number of external mobile platforms 400 and number of internal mobile
platforms
402. In this manner, plurality of mobile platforms 344 may include at least
one
external mobile platform and at least one internal mobile platform.
CA 02894299 2015-06-15
In some illustrative examples, number of external mobile platforms 400 may
be referred to as a number of drivable external mobile platforms. Similarly,
in some
cases, number of internal mobile platforms 402 may be referred to as a number
of
drivable internal mobile platforms. In other illustrative examples, number of
external
mobile platforms 400 and number of internal mobile platforms 402 may be
referred to
as a number of autonomously drivable external mobile platforms and a number of
autonomously drivable internal mobile platforms, respectively.
External mobile platform 404 may be an example of one of number of external
mobile platforms 400 and internal mobile platform 406 may be an example of one
of
number of internal mobile platforms 402. External mobile platform 404 and
internal
mobile platform 406 may be platforms that are autonomously drivable. Depending
on
the implementation, each of external mobile platform 404 and internal mobile
platform 406 may be configured to autonomously drive across floor 300 on its
own or
with the assistance of one of plurality of autonomous vehicles 306 from Figure
3.
As one illustrative example, without limitation, external mobile platform 404
may be autonomously driven across floor 300 using a corresponding one of
plurality
of autonomous vehicles 306. In some illustrative examples, external mobile
platform
404 and this corresponding one of plurality of autonomous vehicles 306 may be
integrated with each other. For example, the autonomous vehicle may be fixedly
associated with external mobile platform 404. An entire load of external
mobile
platform 404 may be transferable to the autonomous vehicle such that driving
the
autonomous vehicle across floor 300 drives external mobile platform 404 across
floor
300.
External mobile platform 404 may be driven from, for example, without
limitation, holding area 318 to a position relative to exterior 234 of
fuselage assembly
114 to perform one or more operations 124 in Figure 1. As depicted, at least
one
external robotic device 408 may be associated with external mobile platform
404. In
this illustrative example, external robotic device 408 may be considered part
of
external mobile platform 404. In other illustrative examples, external robotic
device
408 may be considered a separate component that is physically attached to
external
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CA 02894299 2015-06-15
mobile platform 404. External robotic device 408 may take the form of, for
example,
without limitation, a robotic arm.
External robotic device 408 may have first end effector 410. Any number of
tools may be associated with first end effector 410. These tools may include,
for
example, without limitation, at least one of a drilling tool, a fastener
insertion tool, a
fastener installation tool, an inspection tool, or some other type of tool. In
particular,
any number of fastening tools may be associated with first end effector 410.
As depicted, first tool 411 may be associated with first end effector 410. In
one illustrative example, first tool 411 may be any tool that is removably
associated
with first end effector 410. In other words, first tool 411 associated with
first end
effector 410 may be changed as various operations need to be performed. For
example, without limitation, first tool 411 may take the form of one type of
tool, such
as a drilling tool, to perform one type of operation. This tool may then be
exchanged
with another type of tool, such as a fastener insertion tool, to become the
new first
tool 411 associated with first end effector 410 to perform a different type of
operation.
In one illustrative example, first tool 411 may take the form of first
riveting tool
412. First riveting tool 412 may be used to perform riveting operations. In
some
illustrative examples, a number of different tools may be exchanged with first
riveting
tool 412 and associated with first end effector 410. For example, without
limitation,
first riveting tool 412 may be exchangeable with a drilling tool, a fastener
insertion
tool, a fastener installation tool, an inspection tool, or some other type of
tool.
External mobile platform 404 may be autonomously driven across floor 300
and positioned relative to assembly fixture 324 in Figure 3 supporting
fuselage
assembly 114 to position first end effector 410 and first tool 411 associated
with first
end effector 410 relative to one of plurality of panels 120. For example,
external
mobile platform 404 may be autonomously driven across floor 300 to external
position 414 relative to assembly fixture 324. In this manner, first tool 411
carried by
external mobile platform 404 may be macro-positioned using external mobile
platform
404.
Once in external position 414, first end effector 410 may be autonomously
controlled using at least external robotic device 408 to position first tool
411
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CA 02894299 2015-06-15
associated with first end effector 410 relative to a particular location on an
exterior-
facing side of one of plurality of panels 120. In this manner, first tool 411
may be
micro-positioned relative to the particular location.
Internal mobile platform 406 may be located on second tower 336 in Figure 3
when internal mobile platform 406 is not in use. When interface 342 described
in
Figure 3 is formed between second tower 336 and assembly fixture 324, internal
mobile platform 406 may be driven from second tower 336 into interior 236 of
fuselage assembly 114 and used to perform one or more of operations 124. In
one
illustrative example, internal mobile platform 406 may have a movement system
that
allows internal mobile platform 406 to move from second tower 336 onto a floor
inside fuselage assembly 114.
At least one internal robotic device 416 may be associated with internal
mobile
platform 406. In this illustrative example, internal robotic device 416
may be
considered part of internal mobile platform 406. In other illustrative
examples,
internal robotic device 416 may be considered a separate component that is
physically attached to internal mobile platform 406. Internal robotic device
416 may
take the form of, for example, without limitation, a robotic arm.
Internal robotic device 416 may have second end effector 418. Any number of
tools may be associated with second end effector 418. For example, without
limitation, at least one of a drilling tool, a fastener insertion tool, a
fastener installation
tool, an inspection tool, or some other type of tool may be associated with
second
end effector 418. In particular, any number of fastening tools may be
associated with
second end effector 418.
As depicted, second tool 419 may be associated with second end effector
418. In one illustrative example, second tool 419 may be any tool that is
removably
associated with second end effector 418. In other words, second tool 419
associated
with second end effector 418 may be changed as various operations need to be
performed. For example, without limitation, first tool 411 may take the form
of one
type of tool, such as a drilling tool, to perform one type of operation. This
tool may
then be exchanged with another type of tool, such as a fastener insertion
tool, to
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CA 02894299 2015-06-15
become the new first tool 411 associated with first end effector 410 to
perform a
different type of operation.
In one illustrative example, second tool 419 may take the form of second
riveting tool 420. Second riveting tool 420 may be associated with second end
effector 418. Second riveting tool 420 may be used to perform riveting
operations.
In some illustrative examples, a number of different tools may be exchanged
with
second riveting tool 420 and associated with second end effector 418. For
example,
without limitation, second riveting tool 420 may be exchangeable with a
drilling tool, a
fastener insertion tool, a fastener installation tool, an inspection tool, or
some other
type of tool.
Internal mobile platform 406 may be driven from second tower 336 into
fuselage assembly 114 and positioned relative to interior 236 of fuselage
assembly
114 to position second end effector 418 and second tool 419 associated with
second
end effector 418 relative to one of plurality of panels 120. In one
illustrative example,
internal mobile platform 406 may be autonomously driven onto one of number of
floors 266 in Figure 2 into internal position 422 within fuselage assembly 114
relative
to fuselage assembly 114. In this manner, second tool 419 may be macro-
positioned
into internal position 422 using internal mobile platform 406.
Once in internal position 422, second end effector 418 may be autonomously
controlled to position second tool 419 associated with second end effector 418
relative to a particular location on an interior-facing side of one of
plurality of panels
120 or an interior-facing side of one of plurality of members 122 in Figure 2
that
make up support structure 121. In this manner, second tool 419 may be micro-
positioned relative to the particular location.
In one illustrative example, external position 414 for external mobile
platform
404 and internal position 422 for internal mobile platform 406 may be selected
such
that fastening process 424 may be performed at location 426 on fuselage
assembly
114 using external mobile platform 404 and internal mobile platform 406.
Fastening
process 424 may include any number of operations. In one illustrative example,
fastening process 424 may include at least one of drilling operation 428,
fastener
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CA 02894299 2015-06-15
insertion operation 430, fastener installation operation 432, inspection
operation 434,
or some other type of operation.
As one specific example, drilling operation 428 may be performed
autonomously using first tool 411 associated with first end effector 410 of
external
mobile platform 404 or second tool 419 associated with second end effector 418
of
internal mobile platform 406. For example, without limitation, first tool 411
or second
tool 419 may take the form of a drilling tool for use in performing drilling
operation
428. Drilling operation 428 may be autonomously performed using first tool 411
or
second tool 419 to form hole 436 at location 426. Hole 436 may pass through at
least one of two panels in plurality of panels 120, two members of a plurality
of
members 122, or a panel and one of plurality of members 122.
Fastener insertion operation 430 may be performed autonomously using first
tool 411 associated with first end effector 410 of external mobile platform
404 or
second tool 419 associated with second end effector 418 of internal mobile
platform
406. Fastener insertion operation 430 may result in fastener 438 being
inserted into
hole 436.
Fastener installation operation 432 may then be performed autonomously
using at least one of first tool 411 associated with first end effector 410 of
external
mobile platform 404 or second tool 419 associated with second end effector 418
of
internal mobile platform 406. In one illustrative example, fastener
installation
operation 432 may be performed autonomously using first tool 411 in the form
of first
riveting tool 412 and second tool 419 in the form of second riveting tool 420
such that
fastener 438 becomes rivet 442 installed at location 426. Rivet 442 may be a
fully
installed rivet. Rivet 442 may be one of plurality of fasteners 264 described
in Figure
.. 2.
In one illustrative example, fastener installation operation 432 may take the
form of bolt-nut type installation process 433. First tool 411 associated with
first end
effector 410 may be used to, for example, without limitation, install bolt 435
through
hole 436. Second tool 419 associated with second end effector 418 may then be
used to install nut 437 over bolt 435. In some cases, installing nut 437 may
include
CA 02894299 2015-06-15
applying a torque sufficient to nut 437 such that a portion of nut 437 breaks
off. In
these cases, nut 437 may be referred to as a frangible collar.
In another illustrative example, fastener installation operation 432 may take
the form of interference-fit bolt-type installation process 439.
First tool 411
associated with first end effector 410 may be used to, for example, without
limitation,
install bolt 435 through hole 436 such that an interference fit is created
between bolt
435 and hole 436. Second tool 419 associated with second end effector 418 may
then be used to install nut 437 over bolt 435.
In yet another illustrative example, fastener installation operation 432 may
take the form of two-stage riveting process 444. Two-stage riveting process
444 may
be performed using, for example, without limitation, first riveting tool 412
associated
with external mobile platform 404 and second riveting tool 420 associated with
internal mobile platform 406.
For example, first riveting tool 412 and second riveting tool 420 may be
positioned relative to each other by external mobile platform 404 and internal
mobile
platform 406, respectively. For example, external mobile platform 404 and
external
robotic device 408 may be used to position first riveting tool 412 relative to
location
426 at exterior 234 of fuselage assembly 114. Internal mobile platform 406 and
internal robotic device 416 may be used to position second riveting tool 420
relative
to the same location 426 at interior 236 of fuselage assembly 114.
First riveting tool 412 and second riveting tool 420 may then be used to
perform two-stage riveting process 444 to form rivet 442 at location 426.
Rivet 442
may join at least two of plurality of panels 120 together, a panel in
plurality of panels
120 to support structure 121 formed by plurality of members 122, or two panels
in
plurality of panels 120 to support structure 121.
In this example, two-stage riveting process 444 may be performed at each of
plurality of locations 446 on fuselage assembly 114 to install plurality of
fasteners 264
as described in Figure 2. Two-stage riveting process 444 may ensure that
plurality
of fasteners 264 in Figure 2 are installed at plurality of locations 446 with
a desired
quality and desired level of accuracy.
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CA 02894299 2015-06-15
In this manner, internal mobile platform 406 may be autonomously driven and
operated inside fuselage assembly 114 to position internal mobile platform 406
and
second riveting tool 420 associated with internal mobile platform 406 relative
to
plurality of locations 446 on fuselage assembly 114 for performing assembly
process
110 described in Figure 1. Similarly, external mobile platform 404 may be
autonomously driven and operated around fuselage assembly 114 to position
external mobile platform 404 and first riveting tool 412 associated with
external
mobile platform 404 relative to plurality of locations 446 on fuselage
assembly 114 for
performing operations 124.
With reference now to Figure 5, an illustration of a flow of number of
utilities
146 across distributed utility network 144 from Figure 1 is depicted in the
form of a
block diagram in accordance with an illustrative embodiment. As depicted,
number
of utilities 146 may be distributed across distributed utility network 144.
Distributed utility network 144 may include, for example, without limitation,
number of utility sources 148, utility fixture 150, number of towers 330,
assembly
fixture 324, number of external mobile platforms 400, and number of utility
units 500.
In some cases, distributed utility network 144 may also include number of
internal
mobile platforms 402. In some illustrative examples, number of utility sources
148
may be considered separate from distributed utility network 144.
In this illustrative example, only one of number of towers 330 may be included
in distributed utility network 144 at a time. When first tower 334 is used,
distributed
utility network 144 may be formed when utility fixture 150 is coupled to
number of
utility sources 148, first tower 334 is coupled to utility fixture 150,
assembly fixture
324 is coupled to first tower 334, and number of external mobile platforms 400
is
coupled to number of utility units 500.
Number of utility units 500 may be associated with number of cradle fixtures
314 of assembly fixture 324 or separated from number of cradle fixtures 314.
For
example, without limitation, a number of dual interfaces may be created
between
number of external mobile platforms 400, number of utility units 500, and
number of
cradle fixtures 314 using one or more dual-interface couplers.
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CA 02894299 2015-06-15
When second tower 336 is used, distributed utility network 144 may be formed
when utility fixture 150 is coupled to number of utility sources 148, second
tower 336
is coupled to utility fixture 150, assembly fixture 324 is coupled to second
tower 336,
number of internal mobile platforms 402 is coupled to second tower 336, and
number
of external mobile platforms 400 is coupled to number of utility units 500,
which may
be associated with number of cradle fixtures 314 or separated from number of
cradle
fixtures 314. Number of internal mobile platforms 402 may receive number of
utilities
146 through a number of cable management systems associated with second tower
336.
In this manner, number of utilities 146 may be distributed across distributed
utility network 144 using a single utility fixture 150. This type of
distributed utility
network 144 may reduce the number of utility components, utility cables, and
other
types of devices needed to provide number of utilities 146 to the various
components
in distributed utility network 144. Further, with this type of distributed
utility network
144, starting from at least utility fixture 150, number of utilities 146 may
be provided
completely above floor 300 of manufacturing environment in Figure 1.
With reference now to Figure 6, an illustration of a dual-interface coupler is
depicted in the form of a block diagram in accordance with an illustrative
embodiment. In this illustrative example, dual-interface coupler 600 may be
used to
couple number of utilities 146 from Figure 1 between first system 601 and
second
system 603.
In this illustrative example, first system 601 and second system 603 may take
the form of mobile systems, such as those included in plurality of mobile
systems 134
in Figure 1. Depending on the implementation, at least one of first system 601
and
second system 603 may be a component or system within one of plurality of
mobile
systems 134 in Figure 1.
For example, without limitation, first system 601 may take the form of a
mobile
platform, such as one of plurality of mobile platforms 344 in Figure 3. Second
system 603 may take the form of a fixture, such as, for example, without
limitation,
one of number of fixtures 313 in Figure 3. As one specific example, first
system 601
may take the form of external mobile platform 404 from Figure 4 and second
system
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CA 02894299 2015-06-15
603 may take the form of cradle fixture 322 from Figure 3. As another
illustrative
example, first system 601 may take the form of cradle fixture 322 and second
system
603 may take the form of tower 332 in Figure 3.
Coupling number of utilities 146 between first system 601 and second system
603 may include coupling first system 601 to second system 603 using component
604. In this illustrative example, component 604 may take the form of
utilities unit
606. Utilities unit 606 may be an example of one of number of utility units
500 in
Figure 5 that form part of distributed utility network 144 in Figure 1.
Dual-interface coupler 600 may include first coupling unit 612, first
corresponding coupling unit 616, second coupling unit 614, and second
corresponding coupling unit 618. Dual-interface coupler 600 may enable
couplings
at either side of utilities unit 606. For example, as depicted, utilities unit
606 may
have first side 608 and second side 609. First coupling unit 612 and second
coupling
unit 614 may be associated with first side 608 and second side 609,
respectively.
First corresponding coupling unit 616 may be associated with first system 601.
First coupling unit 612 may be configured to mate with first corresponding
coupling
unit 616. When first system 601 takes the form of external mobile platform
404, first
corresponding coupling unit 616 may be associated with platform base 617 of
external mobile platform 404. Second corresponding coupling unit 618 may be
associated with second system 603. Second coupling unit 614 may be configured
to
mate with second corresponding coupling unit 618. When second system 603 takes
the form of cradle fixture 322, second corresponding coupling unit 618 may be
associated with base 619 of cradle fixture 322. In other illustrative
examples, first
corresponding coupling unit 616 and second corresponding coupling unit 618 may
be
associated with other components of external mobile platform 404 and cradle
fixture
322, respectively.
Further, utilities unit 606 may receive number of utilities 146 from cradle
fixture
322. For example, without limitation, utilities unit 606 may receive number of
utilities
146 through number of utility cables 622 connected at least one of directly or
indirectly to cradle fixture 322. Number of utility cables 622 may connect to,
for
example, without limitation, another coupling unit, such as coupling unit 610
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CA 02894299 2015-06-15
associated with cradle fixture 322. In this manner, number of utilities 146
may be
considered coupled between utilities unit 606 and cradle fixture 322 through
number
of utility cables 622.
Coupling unit 610 may receive number of utilities 146 from a corresponding
coupling unit (not shown) associated with at least one of tower 332 in Figure
3 or
another one of number of cradle fixtures 314 in Figure 3. Number of utilities
146
received at coupling unit 610, and thereby utilities unit 606, may be received
as part
of the flow of number of utilities 146 through distributed utility network 144
described
in Figures 1 and 5.
Cable management system 620 may be used to manage number of utility
cables 622. Cable management system 620 may include, for example, without
limitation, cable track 621 and cable support arm 623. Cable track 621 and
cable
support arm 623 may be used to keep number of utility cables 622 organized and
out
of the way of certain components or devices when utilities unit 606 is coupled
to
cradle fixture 322, external mobile platform 404, or both. In some cases,
cable track
621 may be comprised of a flexible material, have a flexible configuration, or
both.
Cable track 621 and cable support arm 623 may manage number of utility
cables 622 such that external mobile platform 404 may freely move utilities
unit 606
relative to cradle fixture 600. In this manner, cable management system 620
may
provide flexibility in the manner in which number of utilities 146 is
distributed to
external mobile platform 404 to support free movement of external mobile
platform
404 relative to assembly fixture 324.
Coupling may be formed by establishing a dual-interface comprised of first
interface 624 and second interface 626. First interface 624 may be formed
using first
coupling unit 612 associated with utilities unit 606 and first corresponding
coupling
unit 616 associated with first system 601 in the form of, for example,
external mobile
platform 404. Second interface 626 may be formed using second coupling unit
614
associated with utilities unit 606 and second corresponding coupling unit 618
associated with second system 603 in the form of, for example, cradle fixture
322.
First interface 624 may be formed by the mating of male device 633 and
female device 635. Depending on the implementation, one of first coupling unit
612
CA 02894299 2015-06-15
and first corresponding coupling unit 616 may take the form of male device
633,
while the other may take the form of female device 635.
As one illustrative example, first coupling unit 612 may take the form of
quick-
change device 628 and first corresponding coupling unit 616 may take the form
of
corresponding quick-change device 630. Quick-change device 628 may take the
form of, for example, without limitation, male quick-change device 632, while
corresponding quick-change device 630 may take the form of, for example,
without
limitation, female quick-change device 634.
Similarly, second interface 626 may be formed by the mating of male device
637 and female device 639. Depending on the implementation, one of second
coupling unit 614 and second corresponding coupling unit 618 may take the form
of
male device 637, while the other may take the form of female device 639.
As one illustrative example, second coupling unit 614 may take the form of
quick-change device 636 and second corresponding coupling unit 618 may take
the
form of corresponding quick-change device 638. Quick-change device 636 may
take
the form of, for example, without limitation, female quick-change device 640,
while
corresponding quick-change device 638 may take the form of, for example,
without
limitation, male quick-change device 642.
As described above, the mating of second coupling unit 614 and second
corresponding coupling unit 618 may form second interface 626. Second
interface
626 may be comprised of mechanical interface 644. For example, mating quick-
change device 636 and corresponding quick-change device 638 may form
mechanical interface 644. With mechanical interface 644, movement of cradle
fixture
322 along floor 300 may also move utilities unit 606. Mechanical interface 644
may
have one of two states. For example, without limitation, mechanical interface
644
may be activated 645 or inactivated 646. In some cases, some type of
mechanical
interlocking device may be used to switch mechanical interface 644 between
activated 645 or inactivated 646.
When activated 645, mechanical interface 644, and thereby second interface
626, may be considered locked. In other words, when mechanical interface 644
is
activated 645, the second coupling unit 614 may not be disengaged from second
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CA 02894299 2015-06-15
corresponding coupling unit 618. In this manner, the mating between utilities
unit
606 and cradle fixture 322 may be locked. When inactivated 646, mechanical
interface 644, and thereby second interface 626, may be considered unlocked.
In
other words, when mechanical interface 644 is inactivated 646, second coupling
unit
614 may be capable of being disengaged from second corresponding coupling unit
618. In this manner, the mating between utilities unit 606 and cradle fixture
322 may
be unlocked.
To couple utilities unit 606 with external mobile platform 404, external
mobile
platform 404 may be driven across floor 300 into a selected position relative
to cradle
fixture 322. For example, without limitation, one of plurality of autonomous
vehicles
306 from Figure 3 may be used to drive external mobile platform 404 towards
cradle
fixture 322 and into selected position 650 relative to cradle fixture 322.
Selected
position 650 may be one in which first corresponding coupling unit 616 is
positioned
relative to utilities unit 606 that is coupled to cradle fixture 322.
External mobile platform 404 may drive first corresponding coupling unit 616
towards first coupling unit 612 such that first corresponding coupling unit
616 may
engage first coupling unit 612. First coupling unit 612 may then be coupled
with, or
mated to, first corresponding coupling unit 616 to form first interface 624.
Mating first coupling unit 612 and first corresponding coupling unit 616 may
be
aided by aligning first coupling unit 612 with first corresponding coupling
unit 616.
Compliance unit 651 may be associated with utilities unit 606. Compliance unit
651
may provide some freedom of movement with first coupling unit 612 that aids in
aligning first coupling unit 612 to first corresponding coupling unit 616.
Compliance
unit 651 may include, for example, without limitation, number of springs 655
that
provide first coupling unit 612 with some rotational freedom of movement.
First interface 624 may be comprised of mechanical interface 652 and utility
interface 653. Mating first coupling unit 612 with first corresponding
coupling unit 616
may form mechanical interface 652 and utility interface 653. A utility
interface, such
as utility interface 653, may also be referred to as a utilities interface.
Mechanical interface 652 may have one of two states. Mechanical interface
652 may be activated 654 or inactivated 656. In some cases, some type of
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CA 02894299 2015-06-15
mechanical interlocking device may be used to switch mechanical interface 652
between activated 645 or inactivated 646.
When activated 654, mechanical interface 652, and thereby first interface 624,
may be considered locked. In other words, when mechanical interface 652 is
activated 654, first coupling unit 612 may not be disengaged from first
corresponding
coupling unit 616. In this manner, the mating between utilities unit 606 and
external
mobile platform 404 may be locked. When inactivated 656, mechanical interface
652, and thereby first interface 624, may be considered unlocked. In other
words,
when mechanical interface 652 is inactivated 656, first coupling unit 612 may
be
capable of being disengaged from first corresponding coupling unit 616. In
this
manner, the mating between utilities unit 606 and external mobile platform 404
may
be unlocked.
Utility interface 653 may be formed when mechanical interface 652 is
activated 654. Number of utilities 146 may flow from utilities unit 606
through utility
interface 653 to external mobile platform 404. In particular, number of
utilities 146
may flow from utilities unit 606, through first coupling unit 612 and first
corresponding
coupling unit 616, and to external mobile platform 404.
Once first interface 624 has been activated, second interface 626 may be
deactivated. In other words, when mechanical interface 652 is activated 654,
mechanical interface 644 may be switched from activated 645 to inactivated
646. In
other words, mechanical interface 644 may be unlocked such that second
coupling
unit 614 may be disengaged from and moved away from second corresponding
coupling unit 618. In particular, second coupling unit 614 may be moved away
cradle
fixture 322.
For example, without limitation, once mechanical interface 644 is inactivated
646, external mobile platform 404 may be driven such that second coupling unit
614
is moved away from second corresponding coupling unit 618 to disengage second
coupling unit 614 from second corresponding coupling unit 618. Consequently,
second interface 626 may no longer be present. Once disengaged, external
mobile
platform 404 may be configured to drive utilities unit 606 still coupled to
external
mobile platform 404 away from cradle fixture 322 with at least one degree of
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CA 02894299 2015-06-15
freedom. In this illustrative example, external mobile platform 404 may move
utilities
unit 606 independently of cradle fixture 322 with at least one degree of
freedom
within the range allowed by the connection of number of utility cables 622
between
utilities unit 606 and cradle fixture 322.
In this manner, number of utilities 146 may be provided from cradle fixture
322
to external mobile platform 404 in a manner that does not restrict movement of
external mobile platform 404 relative to cradle fixture 322 in an undesired
manner.
Further, cable management system 620 may keep number of utility cables 622
organized and out of the way of external mobile platform 404 as utilities unit
606 is
moved freely relative to cradle fixture 322. Further, cable management system
620
may make it safer for human personnel to move around on floor 300.
External mobile platform 404 may then be capable of driving utilities unit 606
back to cradle fixture 322. While utilities unit 606 is still coupled to
external mobile
platform 404, external mobile platform 404 may drive utilities unit 606 such
that
second coupling unit 614 is moved towards second corresponding coupling unit
618.
Second coupling unit 614 may then be engaged with second corresponding
coupling
unit 618 to re-establish second interface 626 and, in particular, mechanical
interface
644. Mechanical interface 644 may then be locked, or activated.
After mechanical interface 644 has been locked, mechanical interface 652
between first coupling unit 612 and first corresponding coupling unit 616 may
be
unlocked and first corresponding coupling unit 616 disengaged from first
coupling
unit 612. In particular, external mobile platform 404 may move first
corresponding
coupling unit 616 away from first coupling unit 612 to disengage first
corresponding
coupling unit 616 from first coupling unit 612. External mobile platform 404
may then
be driven away. Depending on the implementation, external mobile platform 404
may then drive into some other position relative to another one of number of
cradle
fixtures 314 in Figure 3 or to holding area 318 in Figure 3.
In this manner, at least one of first interface 624 or second interface 626
may
be activated at any given point in time. In other words, utilities unit 606
may be
interfaced with first system 601, second system 603, or both at any given
point in
time.
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In some illustrative examples, first alignment system 660 may be associated
with first corresponding coupling unit 616 and second alignment system 662 may
be
associated with second corresponding coupling unit 618. When first interface
624
needs to be formed, first alignment system 660 and second alignment system 662
may be used to align first corresponding coupling unit 616 with first coupling
unit 612.
When second interface 626 needs to be formed, first alignment system 660 and
second alignment system 662 may be used to align second coupling unit 614 with
second corresponding coupling unit 618.
With reference now to Figure 7, an illustration of first alignment system 660
and second alignment system 662 from Figure 6 is depicted in the form of a
block
diagram in accordance with an illustrative embodiment. As depicted, first
alignment
system 660 may be associated with first corresponding coupling unit 616.
Second
alignment system 662 may be associated with second corresponding coupling unit
618. First alignment system 660 and second alignment system 662 may include
any
.. number of components and devices that can be used for alignment.
When forming first interface 624, first alignment system 660 and second
alignment system 662 may be coordinated such that first coupling unit 612 may
be
aligned with first corresponding coupling unit 616. In particular, first
alignment
system 660 and second alignment system 662 may align first coupling unit 612
and
first corresponding coupling unit 616 such that autonomous coupling 700 may be
performed. In other words, first alignment system 660 and second alignment
system
662 may be used to align first coupling unit 612 with first corresponding
coupling unit
616 autonomously.
When forming second interface 626, first alignment system 660 and second
alignment system 662 may be coordinated such that second coupling unit 614 may
be aligned with second corresponding coupling unit 618. In particular, first
alignment
system 660 and second alignment system 662 may align second coupling unit 614
and second corresponding coupling unit 618 such that autonomous coupling 700
may be performed. In other words, first alignment system 660 and second
alignment
system 662 may be used to align second coupling unit 614 with second
corresponding coupling unit 618 autonomously.
CA 02894299 2015-06-15
In one illustrative example, first alignment system 660 may include at least
one of set of movement systems 702, sensor system 704, or roller 706. In this
example, second alignment system 662 may include at least one of set of
movement
systems 708, sensor system 710, or guidance fork 712. Each movement system in
set of movement systems 702 and set of movement systems 708 may be
implemented using at least one of an actuation device, an air cylinder, a
motor, a rail
system, an X-Y table, a track system, a slider, a roller, a wheel, or some
other type of
movement device.
When included in first alignment system 660, set of movement systems 702
may be used to move first corresponding coupling unit 616 with at least one
degree
of freedom relative to external mobile platform 404 for alignment purposes.
Further,
moving first corresponding coupling unit 616 while first coupling unit 612 is
mated
with first coupling unit 612 may also move utilities unit 606, and thereby,
second
coupling unit 614. In this manner, first corresponding coupling unit 616 may
be
moved such that second coupling unit 614 may be aligned with second
corresponding coupling unit 618.
Similarly, when included in second alignment system 662, set of movement
systems 708 may be used to move second corresponding coupling unit 618 with at
least one degree of freedom relative to cradle fixture 322 for alignment
purposes.
Moving second corresponding coupling unit 618 while second coupling unit 614
is
mated with second corresponding coupling unit 618 may also move utilities unit
606,
and thereby first coupling unit 612. In this manner, second corresponding
coupling
unit 618 may be moved such that first coupling unit 612 may be aligned with
first
corresponding coupling unit 616.
Further, in one illustrative example, at least one of set of movement systems
702 or set of movement systems 708 may be used to guide roller 706 within
guidance fork 712. In this example, roller 706 may be guided within guidance
fork
712 to provide at least one of horizontal alignment or vertical alignment,
depending
on the orientation of guidance fork 712 relative to second corresponding
coupling unit
618 and roller 706 relative to first corresponding coupling unit 616. When
roller 706
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CA 02894299 2015-06-15
is within guidance fork 712, roller 706 may be considered engaged with
guidance fork
712, thereby mating first alignment system 660 with second alignment system
662.
When first interface 624 needs to be formed, roller 706 may be guided into
and within guidance fork 712 such that first coupling unit 612 may be aligned
with
and engaged with first corresponding coupling unit 616. When second interface
626
needs to be formed, roller 706 may be guided into and within guidance fork 712
such
that second coupling unit 614 may be aligned with and engaged with second
corresponding coupling unit 618.
In this illustrative example, data generated by sensor system 704 may be
processed and used to control the operation of set of movement systems 702.
Further, data generated by sensor system 710 may be processed and used to
control
the operation of set of movement systems 708. In some illustrative examples,
sensor
system 704 may include at least one of imaging system 714, laser device 716,
or set
of laser targets 718. Similarly, sensor system 710 may include at least one of
imaging system 720, laser device 722, or set of laser targets 724.
Imaging data generated by imaging system 714, imaging system 720, or both
may be used to control, for example, the operation of at least one of set of
movement
systems 702 or set of movement systems 708 to provide alignment for forming
first
interface 624, second interface 626, or both. In one illustrative example,
laser device
716 may be used to detect set of laser targets 724. The data generated by
laser
device 716 may be used to control the operation of set of movement systems
702.
Similarly, laser device 722 may be used to detect set of laser targets 718.
The data
generated by laser device 722 may be used to control the operation of set of
movement systems 708.
Depending on the implementation, second alignment system 662 and first
alignment system 660 may include any number of structural members, connective
elements, alignment elements, or devices for use in aiding alignment. In this
manner, second alignment system 662 and first alignment system 660 may be
implemented in any number of different ways to facilitate autonomous coupling
700
between first coupling unit 612 and first corresponding coupling unit 616 to
form first
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CA 02894299 2015-06-15
interface 624 and autonomous coupling 700 between second coupling unit 614 and
second corresponding coupling unit 618 to form second interface 626.
As depicted, first interlocking device 728 may be used to switch first
interface
624, and thereby mechanical interface 652 shown in Figure 6, between the
states of
activated 654 and inactivated 656 shown in Figure 6. First interlocking device
728
may comprise any number of elements associated with at least one of first
coupling
unit 612 or first corresponding coupling unit 616. First interlocking device
728 may
lock first interface 624 such that first corresponding coupling unit 616
cannot be
disengaged from first coupling unit 612. Further, first interlocking device
728 may
unlock first interface 624 such that first corresponding coupling unit 616 can
be
disengaged from first coupling unit 612.
Similarly, second interlocking device 730 may be used to switch second
interface 626, and thereby mechanical interface 644 shown in Figure 6, between
the
states of activated 645 and inactivated 646 shown in Figure 6. Second
interlocking
device 730 may comprise any number of elements associated with at least one of
second coupling unit 614 or second corresponding coupling unit 618. Second
interlocking device 730 may lock second interface 626 such that second
coupling unit
614 cannot be disengaged from second corresponding coupling unit 618. Further,
second interlocking device 730 may unlock second interface 626 such that
second
coupling unit 614 can be disengaged from second corresponding coupling unit
618.
The illustrations in Figures 1-7 are not meant to imply physical or
architectural
limitations to the manner in which an illustrative embodiment may be
implemented.
Other components in addition to or in place of the ones illustrated may be
used.
Some components may be optional. Also, the blocks are presented to illustrate
some functional components. One or more of these blocks may be combined,
divided, or combined and divided into different blocks when implemented in an
illustrative embodiment.
For example, in some cases, more than one flexible manufacturing system
may be present within manufacturing environment 100. These multiple flexible
manufacturing systems may be used to build multiple fuselage assemblies within
manufacturing environment 100. In
other illustrative examples, flexible
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CA 02894299 2015-06-15
manufacturing system 106 may include multiple cradle systems, multiple tower
systems, multiple utility systems, multiple autonomous tooling systems, and
multiple
pluralities of autonomous vehicles such that multiple fuselage assemblies may
be
built within manufacturing environment 100.
In some illustrative examples, utility system 138 may include multiple utility
fixtures that are considered separate from flexible manufacturing system 106.
Each
of these multiple utility fixtures may be configured for use with flexible
manufacturing
system 106 and any number of other flexible manufacturing systems.
Additionally, the different couplings of mobile systems in plurality of mobile
systems 134 may be performed autonomously in these illustrative examples.
However, in other illustrative example, a coupling of one of plurality of
mobile
systems 134 to another one of plurality of mobile systems 134 may be performed
manually in other illustrative examples.
Further, in other illustrative examples, one or more of plurality of mobile
systems 134 may be drivable by, for example, without limitation, a human
operator.
For example, without limitation, in some cases, first tower 334 may be
drivable with
human guidance.
With reference now to Figure 8, an illustration of an isometric view of a
manufacturing environment is depicted in accordance with an illustrative
embodiment. In this illustrative example, manufacturing environment 800 may be
an
example of one implementation for manufacturing environment 100 in Figure 1.
As depicted, manufacturing environment 800 may include holding environment
801 and assembly environment 802. Holding environment 801 may be a designated
area on and over floor 803 of manufacturing environment 800 for storing
plurality of
flexible manufacturing systems 806 when plurality of flexible manufacturing
systems
806 are not in use. Each of plurality of flexible manufacturing systems 806
may be
an example of one implementation for flexible manufacturing system 106
described
in Figures 1 and 3-5. In particular, each of plurality of flexible
manufacturing
systems 806 may be an example of one implementation for autonomous flexible
manufacturing system 112 in Figure 1.
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CA 02894299 2015-06-15
Holding environment 801 may include plurality of holding cells 804. In this
illustrative example, each of plurality of holding cells 804 may be considered
an
example of one implementation for holding area 318 in Figure 3. In other
illustrative
examples, the entire holding environment 801 may be considered an example of
one
implementation for holding area 318 in Figure 3.
Each of plurality of flexible manufacturing systems 806 may be stored in a
corresponding one of plurality of holding cells 804. In particular, each of
plurality of
holding cells 804 may be designated for a specific one of plurality of
flexible
manufacturing systems 806. However, in other illustrative examples, any one of
plurality of holding cells 804 may be used for storing any one of plurality of
flexible
manufacturing systems 806.
As depicted, flexible manufacturing system 808 may be an example of one of
plurality of flexible manufacturing systems 806. Flexible manufacturing system
808
may include plurality of mobile systems 811, which may be an example of one
implementation for plurality of mobile systems 134 in Figures 1 and 3.
Flexible manufacturing system 808 may be stored in holding cell 810 of
plurality of holding cells 804. In this example, all of holding environment
801 may be
considered an example of one implementation for holding area 318 in Figure 3.
However, in other examples, each of plurality of holding cells 804 in holding
environment 801 may be considered an example of one implementation for holding
area 318 in Figure 3.
Floor 803 of manufacturing environment 800 may be substantially smooth to
allow the various components and systems of plurality of flexible
manufacturing
systems 806 to be autonomously driven across floor 803 of manufacturing
environment 800 with ease. When one of plurality of flexible manufacturing
systems
806 is ready for use, that flexible manufacturing system may be driven across
floor
803 from holding environment 801 into assembly environment 802.
Assembly environment 802 may be the designated area on and above floor
803 for building fuselage assemblies.
When none of plurality of flexible
manufacturing systems 806 are in use, floor 803 of assembly environment 802
may
be kept substantially open and substantially clear.
CA 02894299 2015-06-15
As depicted, assembly environment 802 may include plurality of work cells
812. In one illustrative example, each of plurality of work cells 812 may be
an
example of one implementation for assembly area 304 in Figure 3. Thus, each of
plurality of work cells 812 may be designated for performing a fuselage
assembly
process, such as assembly process 110 in Figure 1, for building fuselage
assembly
114 in Figure 1. In other illustrative examples, the entire assembly
environment 802
may be considered an example of one implementation for assembly area 304 in
Figure 3.
In this illustrative example, first portion 814 of plurality of work cells 812
may
be designated for building forward fuselage assemblies, such as forward
fuselage
assembly 117 in Figure 1, while second portion 816 of plurality of work cells
812 may
be designated for building aft fuselage assemblies, such as aft fuselage
assembly
116 in Figure 1. In this manner, plurality of work cells 812 may allow
multiple
fuselage assemblies to be built concurrently. Depending on the implementation,
the
building of these fuselage assemblies may begin at the same time or at
different
times in plurality of work cells 812.
In one illustrative example, plurality of mobile systems 811 that belong to
flexible manufacturing system 808 may be driven across floor 803 from holding
cell
810 into work cell 813. Within work cell 813, plurality of mobile systems 811
may be
used to build a fuselage assembly (not shown). An example of one manner in
which
this fuselage assembly may be built using flexible manufacturing system 808 is
described in greater detail in Figures 9-19 below.
In some illustrative examples, a sensor system may be associated with one or
more of plurality of work cells 812. For example, without limitation, in some
cases,
sensor system 818 may be associated with work cell 819 of plurality of work
cells
812. Sensor data generated by sensor system 818 may be used to help drive the
various mobile systems of the corresponding one of plurality of flexible
manufacturing
systems 806 designated for building a fuselage assembly within work cell 819.
In
one illustrative example, sensor system 818 may take the form of metrology
system
820.
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CA 02894299 2015-06-15
Depending on the implementation, sensor system 818 may be optional. For
example, without limitation, other sensor systems are not depicted associated
with
other work cells of plurality of work cells 812. Not using sensors systems
such as
sensor system 818 may help keep floor 803 of manufacturing environment 800
more
open and clear to help the various mobile systems of plurality of flexible
manufacturing systems 806 be driven more freely across floor 803.
As depicted, plurality of utility fixtures 824 may be permanently affixed to
floor
803.
Each of plurality of utility fixtures 824 may be an example of one
implementation for utility fixture 150 in Figure 1.
Plurality of utility fixtures 824 may be interfaced with a number of utility
sources (not shown in this view). These utility sources (not shown) may be,
for
example, without limitation, located beneath floor 803. Utility fixture 826
may be an
example of one of plurality of utility fixtures 824.
In this illustrative example, each of plurality of utility fixtures 824 is
located in a
corresponding one of plurality of work cells 812. Any one of plurality of
flexible
manufacturing systems 806 may be driven towards and interfaced with any one of
plurality of utility fixtures 824. In this manner, plurality of utility
fixtures 824 may be
used to provide one or more utilities to plurality of flexible manufacturing
systems
806.
Referring now to Figures 9-19, illustrations of the building of a fuselage
assembly within manufacturing environment 800 from Figure 8 are depicted in
accordance with an illustrative embodiment. In Figures 9-19, flexible
manufacturing
system 808 from Figure 8 may be used to build a fuselage assembly. The
building
of the fuselage assembly may be performed within any one of plurality of work
cells
812 in Figure 8. For example, without limitation, the building of the fuselage
assembly may be performed within one of the work cells in second portion 816
of
plurality of work cells 812 in Figure 8.
Turning now to Figure 9, an illustration of an isometric view of a first tower
coupled to utility fixture 826 from Figure 8 is depicted in accordance with an
illustrative embodiment. In this illustrative example, first tower 900 may be
coupled
to utility fixture 826. First tower 900 may be an example of one of plurality
of mobile
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systems 811 of flexible manufacturing system 808 in Figure 8. In particular,
first
tower 900 may be an example of one implementation for first tower 334 in
Figure 3.
First tower 900 may be at least one of electrically and physically coupled to
utility fixture 826 such that interface 902 is formed between first tower 900
and utility
fixture 826. Interface 902 may be an example of one implementation for
interface
342 in Figure 3.
As depicted, first tower 900 may have base structure 904. Base structure 904
may include top platform 906 and bottom platform 907. In some cases, top
platform
906 and bottom platform 907 may be referred to as top platform level and a
bottom
platform level, respectively. Top platform 906 may be used to provide a human
operator with access to a top floor of a fuselage assembly (not shown), such
as a
passenger floor inside the fuselage assembly. Bottom platform 907 may be used
to
provide a human operator with access to a bottom floor of the fuselage
assembly (not
shown), such as a cargo floor inside the fuselage assembly.
In this illustrative example, walkway 908 may provide access from a floor,
such as floor 803 in Figure 8, to bottom platform 907. Walkway 910 may provide
access from bottom platform 907 to top platform 906. Railing 912 is associated
with
top platform 906 for the protection of a human operator moving around on top
platform 906. Railing 914 is associated with bottom platform 907 for the
protection of
a human operator moving around on bottom platform 907.
First tower 900 may be autonomously driven across floor 803 using
autonomous vehicle 916. Autonomous vehicle 916 may be an automated guided
vehicle (AGV) in this example. Autonomous vehicle 916 may be an example of one
of plurality of autonomous vehicles 306 in Figure 3. As depicted, autonomous
vehicle 916 may be used to drive first tower 900 from holding environment 801
in
Figure 8 to selected tower position 918 relative to utility fixture 826.
Selected tower
position 918 may be an example of one implementation for selected tower
position
338 in Figure 3.
Once first tower 900 has been autonomously driven into selected tower
position 918, first tower 900 may autonomously couple to utility fixture 826.
In
particular, first tower 900 may electrically and physically couple to utility
fixture 826
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autonomously to form interface 902. This type of coupling may enable a number
of
utilities to flow from utility fixture 826 to first tower 900. In this manner,
first tower 900
and utility fixture 826 may establish at least a portion of a distributed
utility network,
similar to distributed utility network 144 described in Figures 1 and 5.
With reference now to Figure 10, an illustration of an isometric view of a
cradle system is depicted in accordance with an illustrative embodiment. In
this
illustrative example, cradle system 1000 may be an example of one
implementation
for cradle system 308 in Figure 3. Further, cradle system 1000 may be an
example
of one of plurality of mobile systems 811 of flexible manufacturing system 808
in
Figure 8. In this manner, cradle system 1000 may be an example of one of
plurality
of mobile systems 811 that are stored in holding cell 810 in Figure 8.
As depicted, cradle system 1000 may be comprised of number of fixtures
1003. Number of fixtures 1003 may be an example of one implementation for
number of fixtures 313 in Figure 3. Number of fixtures 1003 may include number
of
cradle fixtures 1002 and fixture 1004. Number of cradle fixtures 1002 may be
an
example of one implementation for number of cradle fixtures 314 in Figure 3.
Number of cradle fixtures 1002 may include cradle fixture 1006, cradle fixture
1008, and cradle fixture 1010. Fixture 1004 may be fixedly associated with
cradle
fixture 1006. In this illustrative example, fixture 1004 may be considered
part of
cradle fixture 1006. However, in other illustrative examples, fixture 1004 may
be
considered a separate fixture from cradle fixture 1006.
As depicted, cradle fixture 1006, cradle fixture 1008, and cradle fixture 1010
have base 1012, base 1014, and base 1016, respectively. Number of retaining
structures 1018 may be associated with base 1012. Number of retaining
structures
1020 may be associated with base 1014. Number of retaining structures 1022 may
be associated with base 1016. Each of number of retaining structures 1018,
number
of retaining structures 1020, and number of retaining structures 1022 may be
an
example of an implementation for number of retaining structures 326 in Figure
3.
Each retaining structure in number of retaining structures 1018, number of
retaining structures 1020, and number of retaining structures 1022 may have a
curved shape that substantially matches a curvature of a corresponding
fuselage
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section to be received by the retaining structure. Retaining structure 1023
may be an
example of one of number of retaining structures 1020. As depicted, retaining
structure 1023 may have curved shape 1025.
Curved shape 1025 may be selected such that curved shape 1025
substantially matches a curvature of a corresponding keel panel (not shown)
that is
to be engaged with retaining structure 1023. More specifically, retaining
structure
1023 may have a substantially same radius of curvature as a corresponding keel
panel (not shown) that is to be engaged with retaining structure 1023.
In this illustrative example, plurality of stabilizing members 1024, plurality
of
stabilizing members 1026, and plurality of stabilizing members 1028 may be
associated with base 1012, base 1014, and base 1016, respectively. Plurality
of
stabilizing members 1024, plurality of stabilizing members 1026, and plurality
of
stabilizing members 1028 may be used to stabilize base 1012, base 1014, and
base
1016, respectively, relative to floor 803 of manufacturing environment 800.
In one illustrative example, these stabilizing members may keep their
respective bases substantially level relative to floor 803. Further, each of
plurality of
stabilizing members 1024, plurality of stabilizing members 1026, and plurality
of
stabilizing members 1028 may substantially support their respective base until
that
base is to be moved to a new location within or outside of manufacturing
environment
800. In one illustrative example, each stabilizing member of plurality of
stabilizing
members 1024, plurality of stabilizing members 1026, and plurality of
stabilizing
members 1028 may be implemented using a hydraulic leg.
Each of number of fixtures 1003 may be used to support and hold a
corresponding fuselage section (not shown) for a fuselage assembly (not shown)
for
an aircraft (not shown), such as one of plurality of fuselage sections 205 for
fuselage
assembly 114 for aircraft 104 in Figure 2. For example, without limitation,
fixture
1004 may have platform 1030 associated with base 1032. Platform 1030 may be
configured to support and hold a forward fuselage section (not shown) or an
aft
fuselage section (not shown) for the aircraft (not shown), depending on the
implementation. The forward fuselage section (not shown) may be the portion of
the
fuselage assembly (not shown) that is to be closest to the nose of the
aircraft (not
CA 02894299 2015-06-15
shown). The aft fuselage section (not shown) may be the portion of the
fuselage
assembly (not shown) that is to be closest to the tail of the aircraft (not
shown).
With reference now to Figure 11, an illustration of an isometric view of an
assembly fixture formed using cradle system 1000 from Figure 10 and coupled to
first tower 900 from Figure 9 is depicted in accordance with an illustrative
embodiment. In this illustrative example, cradle fixture 1010 is coupled to
first tower
900 and cradle fixture 1010, cradle fixture 1006, and cradle fixture 1008 are
coupled
to each other.
Cradle fixture 1010, cradle fixture 1008, and cradle fixture 1006 may have
been autonomously driven across floor 803 of manufacturing environment 800 to
selected cradle position 1100, selected cradle position 1102, and selected
cradle
position 1104, respectively, using a number of corresponding autonomous
vehicles
(not shown), such as number of corresponding autonomous vehicles 316 from
Figure 3. Driving cradle fixture 1006 may also cause fixture 1004 to be driven
when
fixture 1004 is part of cradle fixture 1006 as shown. Selected cradle position
1100,
selected cradle position 1102, and selected cradle position 1104 may be an
example
of one implementation for number of selected cradle positions 320 in Figure 3.
After driving cradle fixture 1010, cradle fixture 1008, and cradle fixture
1006 to
selected cradle position 1100, selected cradle position 1102, and selected
cradle
.. position 1104, respectively, the number of corresponding autonomous
vehicles (not
shown) may be autonomously driven away. In other illustrative examples, the
number of corresponding autonomous vehicles (not shown) may be integrated as
part of cradle fixture 1010, cradle fixture 1008, and cradle fixture 1006.
Selected cradle position 1100 may be a position relative to selected tower
position 918 of first tower 900. When cradle fixture 1010 is in selected
cradle
position 1100 relative to first tower 900, cradle fixture 1010 may be
electrically and
physically coupled to first tower 900 to form interface 1106. In some cases,
cradle
fixture 1010 may be coupled to first tower 900 autonomously to form interface
1106.
In one illustrative example, interface 1106 may be formed by autonomously
coupling
cradle fixture 1010 to first tower 900. Interface 1106 may be an electrical
and
physical interface that enables a number of utilities that are flowing from
utility fixture
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826 to first tower 900 to also flow to cradle fixture 1010. In this manner,
interface
1106 may be formed by autonomously coupling a number of utilities between
cradle
fixture 1010 and first tower 900. Interface 1106 may be an example of one
implementation for interface 340 in Figure 3. In this illustrative example,
cradle
fixture 1010, being coupled to first tower 900, may be referred to as primary
cradle
fixture 1111.
Further, as depicted, cradle fixture 1006, cradle fixture 1008, and cradle
fixture
1010 may be coupled to each other. In particular, cradle fixture 1008 may be
coupled to cradle fixture 1010 to form interface 1108. Similarly, cradle
fixture 1006
may be coupled to cradle fixture 1008 to form interface 1110. In one
illustrative
example, both interface 1108 and interface 1110 may be formed by autonomously
coupling these cradle fixtures to each other.
In particular, interface 1108 and interface 1110 may take the form of
electrical
and physical interfaces that enable the number of utilities to flow from
cradle fixture
1010, to cradle fixture 1008, and to cradle fixture 1006. In this manner,
interface
1108 may be formed by autonomously coupling the number of utilities between
cradle fixture 1010 and cradle fixture 1008 and interface 1110 may be formed
by
autonomously coupling the number of utilities between cradle fixture 1008 and
cradle
fixture 1006. In this manner, number of utilities 146 may be autonomously
coupled
between adjacent cradle fixtures in number of cradle fixtures 314.
Thus, when utility fixture 826, first tower 900, cradle fixture 1010, cradle
fixture
1008, and cradle fixture 1006 are all coupled in series as described above,
the
number of utilities may be distributed downstream from utility fixture 826 to
first tower
900, cradle fixture 1010, cradle fixture 1008, and cradle fixture 1006. In
this
illustrative example, any utilities that flow to cradle fixture 1006 may also
be
distributed to fixture 1004.
Any number of coupling units, structural members, connection devices,
cables, other types of elements, or combination thereof may be used to form
interface 1108 and interface 1110. Depending on the implementation, interface
1108
and interface 1110 may take the form of coupling units that both physically
and
electrically connect cradle fixture 1010, cradle fixture 1008, and cradle
fixture 1006 to
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each other. In other illustrative examples, interface 1108 and interface 1110
may be
implemented in some other manner.
When cradle fixture 1010, cradle fixture 1008, and cradle fixture 1006 are in
selected cradle position 1100, selected cradle position 1102, and selected
cradle
position 1104, respectively, and coupled to each other, these cradle fixtures
together
form assembly fixture 1112. Assembly fixture 1112 may be an example of one
implementation for assembly fixture 324 in Figure 3. In this manner, interface
1106
between first tower 900 and cradle fixture 1010 may also be considered an
electrical
and physical interface between first tower 900 and assembly fixture 1112.
With reference now to Figure 12, an illustration of an isometric view of one
stage in the assembly process for building a fuselage assembly that is being
supported by assembly fixture 1112 from Figure 11 is depicted in accordance
with
an illustrative embodiment. In this illustrative example, assembly fixture
1112 may
support fuselage assembly 1200 as fuselage assembly 1200 is built on assembly
fixture 1112.
Fuselage assembly 1200 may be an aft fuselage assembly that is an example
of one implementation for aft fuselage assembly 116 in Figure 1. Fuselage
assembly 1200 may be partially assembled in this illustrative example.
Fuselage
assembly 1200 may be at an early stage of assembly in this example.
At this stage of the assembly process, fuselage assembly 1200 includes end
panel 1201 and plurality of keel panels 1202. End panel 1201 may have a
tapered
cylindrical shape in this illustrative example. In this manner, one portion of
end panel
1201 may form part of the keel 1205 for fuselage assembly 1200, another
portion of
end panel 1201 may form part of the sides (not fully shown) for fuselage
assembly
1200, and yet another portion of end panel 1201 may form part of a crown (not
fully
shown) for fuselage assembly 1200.
Further, as depicted, bulkhead 1203 may be associated with end panel 1201.
Bulkhead 1203 may be a pressure bulkhead. Bulkhead 1203 may be an example of
one implementation for bulkhead 272 in Figure 2.
Plurality of keel panels 1202 include keel panel 1204, keel panel 1206, and
keel panel 1208. End panel 1201 and plurality of keel panels 1202 have been
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engaged with assembly fixture 1112. In particular, end panel 1201 has been
engaged with fixture 1004. Keel panel 1204, keel panel 1206, and keel panel
1208
have been engaged with cradle fixture 1006, cradle fixture 1008, and cradle
fixture
1010, respectively.
In one illustrative example, end panel 1201 is first engaged with fixture 1004
with keel panel 1204, keel panel 1206, and keel panel 1208 then being
successively
engaged with cradle fixture 1006, cradle fixture, 1008, and cradle fixture
1010,
respectively. In this manner, keel 1205 of fuselage assembly 1200 may be
assembled in a direction from the aft end of fuselage assembly 1200 to the
forward
end of fuselage assembly 1200.
Each of cradle fixture 1006, cradle fixture 1008, and cradle fixture 1010 may
be at least one of autonomously or manually adjusted, as needed, to
accommodate
plurality of keel panels 1202 such that fuselage assembly 1200 may be built to
meet
outer mold line requirements and inner mold line requirements within selected
tolerances. In some cases, at least one of cradle fixture 1006, cradle fixture
1008,
and cradle fixture 1010 may have at least one retaining structure that can be
adjusted to adapt to the shifting of fuselage assembly 1200 during the
assembly
process due to increased loading as fuselage assembly 1200 is built.
As depicted, members 1211 may be associated with end panel 1201 and
plurality of keel panels 1202. Members 1211 may include frames and stringers
in
this illustrative example. However, depending on the implementation, members
1211
may also include, without limitation, stiffeners, stanchions, intercostal
structural
members, connecting members, other types of structural members, or some
combination thereof. The connecting members may include, for example, without
limitation, shear clips, ties, splices, intercostal connecting members, other
types of
mechanical connecting members, or some combination thereof.
The portion of members 1211 attached to end panel 1201 may form support
section 1210. The portions of members 1211 attached to keel panel 1204, keel
panel 1206, and keel panel 1208 may form support section 1212, support section
1214, and support section 1216, respectively.
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In this illustrative example, end panel 1201 may form fuselage section 1218
for fuselage assembly 1200. Each of keel panel 1204, keel panel 1206, and keel
panel 1208 may form a portion of fuselage section 1220, fuselage section 1222,
and
fuselage section 1224, respectively, for fuselage assembly 1200. Fuselage
section
1218, fuselage section 1220, fuselage section 1222, and fuselage section 1224
may
together form plurality of fuselage sections 1225 for fuselage assembly 1200.
Each
of fuselage section 1218, fuselage section 1220, fuselage section 1222, and
fuselage
section 1224 may be an example of one implementation for fuselage section 207
in
Figure 2.
End panel 1201 and plurality of keel panels 1202 may be temporarily
connected together using temporary fasteners such as, for example, without
limitation, tack fasteners. In particular, end panel 1201 and plurality of
keel panels
1202 may be temporarily connected to each other as each of the panels is
engaged
with assembly fixture 1112 and other panels.
For example, without limitation, coordination holes (not shown) may be
present at the edges of end panel 1201 and each of plurality of keel panels
1202. In
some cases, a coordination hole may pass through a panel and at least one of
members 1211 associated with the panel. Engaging one panel with another panel
may include aligning these coordination holes such that temporary fasteners,
such as
tack fasteners, may be installed in these coordination holes. In some cases,
engaging one panel with another panel may include aligning a coordination hole
through one panel with a coordination hole through one of members 1211
associated
with another panel.
In yet another illustrative example, engaging a first panel with another panel
may include aligning the edges of the two panels to form a butt splice. These
two
panels may then be temporarily connected together by aligning a first number
of
coordination holes in, for example, a splice plate, with a corresponding
number of
holes on the first panel and aligning a second number of coordination holes in
that
splice plate with a corresponding number of holes on the second panel.
Temporary
fasteners may then be inserted through these aligned coordination holes to
temporarily connect the first panel to the second panel.
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In this manner, panels and members may be engaged with each other and
temporarily connected together in a number of different ways. Once end panel
1201
and plurality of keel panels 1202 have been temporarily connected together,
assembly fixture 1112 may help maintain the position and orientation of end
panel
1201 and each of plurality of keel panels 1202 relative to each other.
Turning now to Figure 13, an illustration of an isometric view of another
stage
in the assembly process for building a fuselage assembly is depicted in
accordance
with an illustrative embodiment. In this illustrative example, cargo floor
1300 has
been added to fuselage assembly 1200. In particular, cargo floor 1300 may be
associated with plurality of keel panels 1202.
As depicted, at least a portion of cargo floor 1300 may be substantially level
with bottom platform 907 of first tower 900. In particular, at least the
portion of cargo
floor 1300 nearest first tower 900 may be substantially aligned with bottom
platform
907 of first tower 900. In this manner, a human operator (not shown) may use
bottom platform 907 of first tower 900 to easily walk onto cargo floor 1300
and
access interior 1301 of fuselage assembly 1200.
As depicted, first side panels 1302 and second side panels 1304 have been
added to fuselage assembly 1200. First side panels 1302 and second side panels
1304 may be an example of one implementation for first side panels 224 and
second
side panels 226, respectively, in Figure 2. First side panels 1302, second
side
panels 1304, and a first and second portion of end panel 1201 may form sides
1305
of fuselage assembly 1200. In this illustrative example, plurality of keel
panels 1202,
end panel 1201, first side panels 1302, and second side panels 1304 may all be
temporarily connected together using, for example, without limitation, tack
fasteners.
First side panels 1302 may include side panel 1306, side panel 1308, and side
panel 1310 that have been engaged with and temporarily connected to keel panel
1204, keel panel 1206, and keel panel 1208, respectively. Similarly, second
side
panels 1304 may include side panel 1312, side panel 1314, and side panel 1316
that
have been engaged with and temporarily connected to keel panel 1204, keel
panel
1206, and keel panel 1208, respectively. Further, both side panel 1306 and
side
panel 1312 have been engaged with end panel 1201.
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As depicted, members 1318 may be associated with first side panels 1302.
Other members (not shown) may be similarly associated with second side panels
1304. Members 1318 may be implemented in a manner similar to members 1211. In
this illustrative example, corresponding portion 1320 of members 1318 may be
associated with side panel 1306. Corresponding portion 1320 of members 1318
may
form support section 1322 associated with side panel 1306. Support section
1322
may be an example of one implementation for support section 238 in Figure 2.
With reference now to Figure 14, an illustration of an isometric view of
another
stage in the assembly process for building a fuselage assembly is depicted in
accordance with an illustrative embodiment. In this illustrative example,
passenger
floor 1400 has been added to fuselage assembly 1200. As depicted, passenger
floor
1400 may be substantially level with top platform 906 of first tower 900.
Human
operator 1402 may use top platform 906 of first tower 900 to walk onto
passenger
floor 1400 and access interior 1301 of fuselage assembly 1200.
With reference now to Figure 15, an illustration of an isometric view of
another
stage in the assembly process for building a fuselage assembly is depicted in
accordance with an illustrative embodiment. In this illustrative example,
plurality of
crown panels 1500 have been added to fuselage assembly 1200. Plurality of
crown
panels 1500 may be an example of one implementation for crown panels 218 in
.. Figure 2.
In this illustrative example, plurality of crown panels 1500 may include crown
panel 1502, crown panel 1504, and crown panel 1506. These crown panels along
with a top portion of end panel 1201 may form crown 1507 of fuselage assembly
1200. Crown panel 1502 may be engaged with and temporarily connected to end
panel 1201, side panel 1306 shown in Figure 13, side panel 1312, and crown
panel
1504. Crown panel 1504 may be engaged with and temporarily connected to crown
panel 1502, crown panel 1506, side panel 1308 shown in Figure 13, and side
panel
1314. Further, crown panel 1506 may be engaged with and temporarily connected
to
crown panel 1504, side panel 1310, and side panel 1316.
Together, end panel 1201, plurality of keel panels 1202, first side panels
1302,
second side panels 1304, and plurality of crown panels 1500 may form plurality
of
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panels 1508 for fuselage assembly 1200. Plurality of panels 1508 may be an
example of one implementation for plurality of panels 120 in Figure 1.
Plurality of panels 1508 may all be temporarily connected to each other such
that desired compliance with outer mold line requirements and inner mold line
requirements may be maintained during the building of fuselage assembly 1200.
In
other words, temporarily connecting plurality of panels 1508 to each other may
enable outer mold line requirements and inner mold line requirements to be met
within selected tolerances during the building of fuselage assembly 1200 and,
in
particular, the joining of plurality of panels 1508 together.
Members (not shown) may be associated with plurality of crown panels 1500
in a manner similar to the manner in which members 1318 are associated with
first
side panels 1302. These members associated with plurality of crown panels 1500
may be implemented in a manner similar to members 1318 and members 1211 as
shown in Figures 13-14. The various members associated with end panel 1201,
plurality of keel panels 1202, plurality of crown panels 1500, first side
panels 1302,
and second side panels 1304 may form plurality of members 1510 for fuselage
assembly 1200. When plurality of panels 1508 are joined together, plurality of
members 1510 may form a support structure (not yet shown) for fuselage
assembly
1200, similar to support structure 131 in Figure 1.
After plurality of crown panels 1500 have been added to fuselage assembly
1200, first tower 900 may be autonomously decoupled from assembly fixture 1112
and utility fixture 826. First tower 900 may then be autonomously driven away
from
utility fixture 826 using, for example, without limitation, autonomous vehicle
916 in
Figure 9. In one illustrative example, first tower 900 may be autonomously
driven
back to holding environment 801 in Figure 8.
When first tower 900 is decoupled from assembly fixture 1112 and utility
fixture 826, a gap is formed in the distributed utility network. This gap may
be filled
using a second tower (not shown), implemented in a manner similar to second
tower
336 in Figure 3.
With reference now to Figure 16, an illustration of an isometric view of a
second tower coupled to utility fixture 826 and assembly fixture 1112
supporting
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fuselage assembly 1200 from Figure 15 is depicted in accordance with an
illustrative
embodiment. In this illustrative example, second tower 1600 has been
positioned
relative to assembly fixture 1112 and utility fixture 826. Second tower 1600
may be
an example of one implementation for second tower 336 in Figure 3.
Second tower 1600 may be autonomously driven across floor 803 using an
autonomous vehicle (not shown), similar to autonomous vehicle 916 in Figure 9.
Second tower 1600 may be autonomously driven into selected tower position 1618
relative to utility fixture 826. Selected tower position 1618 may be an
example of one
implementation for selected tower position 338 in Figure 3. In this
illustrative
example, selected tower position 1618 may be substantially the same as
selected
tower position 918 in Figure 9.
Once second tower 1600 has been autonomously driven into selected tower
position 1618, second tower 1600 may autonomously couple to utility fixture
826. In
particular, second tower 1600 may electrically and physically couple to
utility fixture
826 autonomously to form interface 1602. Interface 1602 may be another example
of one implementation for interface 342 in Figure 3. This type of coupling may
enable a number of utilities to flow from utility fixture 826 to second tower
1600.
Further, second tower 1600 may autonomously couple to cradle fixture 1010,
thereby autonomously coupling to assembly fixture 1112, to form interface
1605.
Interface 1605 may enable the number of utilities to flow downstream from
second
tower 1600. In this manner, the number of utilities may flow from second tower
1600
to cradle fixture 1010, to cradle fixture 1008, and then to cradle fixture
1006. In this
manner, second tower 1600 may fill the gap in the distributed utility network
that was
created when first tower 900 in Figure 15 was decoupled from assembly fixture
1112
.. and utility fixture 826 and driven away.
Similar to first tower 900 in Figure 9, second tower 1600 may include base
structure 1604, top platform 1606, and bottom platform 1607. However, top
platform
1606 and bottom platform 1607 may be used to provide internal mobile platforms
with access to interior 1301 of fuselage assembly 1200 instead of human
operators.
In this illustrative example, internal mobile platform 1608 may be positioned
on
top platform 1606. Top platform 1606 may be substantially aligned with
passenger
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floor 1400 such that internal mobile platform 1608 may be able to autonomously
drive
across top platform 1606 onto passenger floor 1400.
Similarly, an internal mobile platform (not shown in this view) may be
positioned on bottom platform 1607. Bottom platform 1607 may be substantially
aligned with cargo floor 1300 (not shown in this view) from Figure 13 such
that this
other internal mobile platform (not shown in this view) may be able to
autonomously
drive across bottom platform 1607 onto the cargo floor. Internal mobile
platform
1608 and the other internal mobile platform (not shown in this view) may be
examples of implementations for internal mobile platform 406 in Figure 4.
As depicted, internal robotic device 1610 and internal robotic device 1612 may
be associated with internal mobile platform 1608. Although internal robotic
device
1610 and internal robotic device 1612 are shown associated with the same
internal
mobile platform 1608, in other illustrative examples, internal robotic device
1610 may
be associated with one internal mobile platform and internal robotic device
1612 may
be associated with another internal mobile platform. Each of internal robotic
device
1610 and internal robotic device 1612 may be an example of one implementation
for
internal robotic device 416 in Figure 4.
Internal robotic device 1610 and internal robotic device 1612 may be used to
perform operations within interior 1301 of fuselage assembly 1200 for joining
plurality
of panels 1508. For example, without limitation, internal robotic device 1610
and
internal robotic device 1612 may be used to perform fastening operations, such
as
riveting operations, within interior 1301 of fuselage assembly 1200.
In one illustrative example, utility box 1620 may be associated with base
structure 1604. Utility box 1620 may manage the number of utilities received
from
utility fixture 826 through interface 1602 and may distribute these utilities
into utility
cables that are managed using cable management system 1614 and cable
management system 1616.
As depicted in this example, cable management system 1614 may be
associated with top platform 1606 and cable management system 1616 may be
associated with bottom platform 1607. Cable management system 1614 and cable
management system 1616 may be implemented similarly.
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Cable management system 1614 may include cable wheels 1615 and cable
management system 1616 may include cable wheels 1617. Cable wheels 1615 may
be used to spool utility cables that are connected to internal mobile platform
1608.
For example, without limitation, cable wheels 1615 may be biased in some
manner to
substantially maintain a selected amount of tension in the utility cables.
This biasing
may be achieved using, for example, one or more spring mechanisms.
As internal mobile platform 1608 moves away from second tower 1600 along
passenger floor 1400, the utility cables may extend from cable wheels 1615 to
maintain utility support to internal mobile platform 1608 and manage the
utility cables
such that they do not become tangled. Cable wheels 1617 may be implemented in
a
manner similar to cable wheels 1615.
By using cable wheels 1615 to spool the utility cables, the utility cables may
be kept off of internal mobile platform 1608, thereby reducing the weight of
internal
mobile platform 1608 and the load applied by internal mobile platform 1608 to
passenger floor 1400. The number of utilities provided to internal mobile
platform
1608 may include, for example, without limitation, electricity, air, water,
hydraulic
fluid, communications, some other type of utility, or some combination
thereof.
With reference now to Figure 17, an illustration of an isometric cutaway view
of a plurality of mobile platforms performing fastening processes within
interior 1301
of fuselage assembly 1200 is depicted in accordance with an illustrative
embodiment.
In this illustrative example, plurality of mobile platforms 1700 may be used
to perform
fastening processes to join plurality of panels 1508 together.
In particular, plurality of panels 1508 may be joined together at selected
locations along fuselage assembly 1200. Plurality of panels 1508 may be joined
to
form at least one of lap joints, butt joints, or other types of joints. In
this manner,
plurality of panels 1508 may be joined such that at least one of
circumferential
attachment, longitudinal attachment, or some other type of attachment is
created
between the various panels of plurality of panels 1508.
As depicted, plurality of mobile platforms 1700 may include internal mobile
platform 1608 and internal mobile platform 1701. Internal mobile platform 1608
and
internal mobile platform 1701 may be an example of one implementation for
number
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of internal mobile platforms 402 in Figure 4. Internal mobile platform 1608
may be
configured to move along passenger floor 1400, while internal mobile platform
1701
may be configured to move along cargo floor 1300.
As depicted, internal robotic device 1702 and internal robotic device 1704 may
be associated with internal mobile platform 1701. Each of internal robotic
device
1702 and internal robotic device 1704 may be an example of one implementation
for
internal robotic device 416 in Figure 4. Internal robotic device 1702 and
internal
robotic device 1704 may be similar to internal robotic device 1610 and
internal
robotic device 1612.
Plurality of mobile platforms 1700 may also include external mobile platform
1705 and external mobile platform 1707. External mobile platform 1705 and
external
mobile platform 1707 may be an example of one implementation for at least a
portion
of number of external mobile platforms 400 in Figure 4. External mobile
platform
1705 and external mobile platform 1707 may be examples of implementations for
external mobile platform 404 in Figure 4.
External robotic device 1706 may be associated with external mobile platform
1705. External robotic device 1708 may be associated with external mobile
platform
1707. Each of external robotic device 1706 and external robotic device 1708
may be
an example of one implementation for external robotic device 408 in Figure 4.
As depicted, external robotic device 1706 and internal robotic device 1612
may work collaboratively to install fasteners autonomously in fuselage
assembly
1200. These fasteners may take the form of, for example, without limitation,
at least
one of rivets, interference-fit bolts, non-interference-fit bolts, or other
types of
fasteners or fastener systems. Similarly, external robotic device 1708 and
internal
robotic device 1704 may work collaboratively to install fasteners autonomously
in
fuselage assembly 1200. As one illustrative example, end effector 1710 of
internal
robotic device 1612 and end effector 1712 of external robotic device 1706 may
be
positioned relative to a same location 1720 on fuselage assembly 1200 to
perform a
fastening process at location 1720, such as fastening process 424 in Figure 4.
The fastening process may include at least one of, for example, without
limitation, a drilling operation, a fastener insertion operation, a fastener
installation
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operation, an inspection operation, or some other type of operation. The
fastener
installation operation may take the form of, for example, without limitation,
two-stage
riveting process 444 described in Figure 4, interference-fit bolt-type
installation
process 439 described in Figure 4, bolt-nut type installation process 433
described in
Figure 4, or some other type of fastener installation operation.
In this illustrative example, autonomous vehicle 1711 may be fixedly
associated with external mobile platform 1705. Autonomous vehicle 1711 may be
used to drive external mobile platform 1705 autonomously. For
example,
autonomous vehicle 1711 may be used to autonomously drive external mobile
platform 1705 across floor 803 of manufacturing environment 800 relative to
assembly fixture 1112.
Similarly, autonomous vehicle 1713 may be fixedly associated with external
mobile platform 1707. Autonomous vehicle 1713 may be used to drive external
mobile platform 1707 autonomously. For example, autonomous vehicle 1713 may be
used to autonomously drive external mobile platform 1707 across floor 803 of
manufacturing environment 800 relative to assembly fixture 1112.
By being fixedly associated with external mobile platform 1705 and external
mobile platform 1707, autonomous vehicle 1711 and autonomous vehicle 1713 may
be considered integral to external mobile platform 1705 and external mobile
platform
1707, respectively. However, in other illustrative examples, these autonomous
vehicles may be independent of the external mobile platforms in other
illustrative
examples.
Once all fastening processes have been completed for fuselage assembly
1200, internal mobile platform 1608 and internal mobile platform 1701 may be
autonomously driven across passenger floor 1400 back onto top platform 1606
and
bottom platform 1607, respectively, of second tower 1600. Second tower 1600
may
then be autonomously decoupled from both utility fixture 826 and assembly
fixture
1112. Autonomous vehicle 1714 may then be used to autonomously drive or move
second tower 1600 away.
In this illustrative example, building of fuselage assembly 1200 may now be
considered completed for this stage in the overall assembly process for the
fuselage.
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Consequently, assembly fixture 1112 may be autonomously driven across floor
803
to move fuselage assembly 1200 to some other location. In other illustrative
examples, first tower 900 from Figure 9 may be autonomously driven back into
selected tower position 918 in Figure 9 relative to utility fixture 826. First
tower 900
from Figure 9 may then be autonomously recoupled to utility fixture 826 and
assembly fixture 1112. First tower 900 from Figure 9 may enable a human
operator
(not shown) to access interior 1301 of fuselage assembly 1200 to perform other
operations including, but not limited to, at least one of inspection
operations,
fastening operations, system installation operations, or other types of
operations.
System installation operations may include operations for installing systems
such as,
for example, without limitation, at least one of a fuselage utility system, an
air
conditioning system, interior panels, electronic circuitry, some other type of
system,
or some combination thereof.
With reference now to Figure 18, an illustration of a cross-sectional view of
flexible manufacturing system 808 performing operations on fuselage assembly
1200
from Figure 17 is depicted in accordance with an illustrative embodiment. In
this
illustrative example, a cross-sectional view of fuselage assembly 1200 from
Figure
17 is depicted taken in the direction of lines 18-18 in Figure 17.
As depicted, internal mobile platform 1608 and internal mobile platform 1701
are performing operations within interior 1301 of fuselage assembly 1200.
External
mobile platform 1705 and external mobile platform 1707 are performing assembly
operations along exterior 1800 of fuselage assembly 1200.
In this illustrative example, external mobile platform 1705 may be used to
perform operations along portion 1802 of exterior 1800 between axis 1804 and
axis
1806 at first side 1810 of fuselage assembly 1200. External robotic device
1706 of
external mobile platform 1705 may work collaboratively with internal robotic
device
1610 of internal mobile platform 1608 to perform fastening processes.
Similarly, external mobile platform 1707 may be used to perform operations
along portion 1808 of exterior 1800 of fuselage assembly 1200 between axis
1804
and axis 1806 at second side 1812 of fuselage assembly 1200. External robotic
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device 1708 of external mobile platform 1707 may work collaboratively with
internal
robotic device 1704 of internal mobile platform 1701 to perform fastening
processes.
Although external mobile platform 1705 is depicted as being located at first
side 1810 of fuselage assembly 1200, external mobile platform 1705 may be
autonomously driven by autonomous vehicle 1711 to second side 1812 of fuselage
assembly 1200 to perform operations along portion 1811 of exterior 1800 of
fuselage
assembly 1200 between axis 1804 and axis 1806. Similarly, external mobile
platform
1707 may be autonomously driven by autonomous vehicle 1713 to second side 1812
of fuselage assembly 1200 to perform operations along portion 1813 of exterior
1800
of fuselage assembly 1200 between axis 1804 and axis 1806.
Although not shown in this illustrative example, an external mobile platform
similar to external mobile platform 1705 may have an external robotic device
configured to work collaboratively with internal robotic device 1612 of
internal mobile
platform 1608 at second side 1812 of fuselage assembly 1200. Similarly, an
external
mobile platform similar to external mobile platform 1707 may have an external
robotic
device configured to work collaboratively with internal robotic device 1702 of
internal
mobile platform 1701 at first side 1810 of fuselage assembly 1200.
These four different external mobile platforms and two internal mobile
platforms may be controlled such that the operations performed by internal
mobile
platform 1608 located on passenger floor 1400 may occur at a different
location with
respect to the longitudinal axis of fuselage assembly 1200 than the operations
performed by internal mobile platform 1701 located on cargo floor 1300. The
four
external mobile platforms may be controlled such that the two external mobile
platforms located on the same side of fuselage assembly 1200 do not collide or
impede one another. The two external mobile platforms located at the same side
of
fuselage assembly 1200 may be unable to occupy the same footprint in this
illustrative example.
In this illustrative example, external mobile platform 1705 may autonomously
couple to assembly fixture 1112 to form interface 1822 such that a number of
utilities
may flow from assembly fixture 1112 to external mobile platform 1705. In other
words, the number of utilities may be autonomously coupled between external
mobile
CA 02894299 2015-06-15
platform 1705 and assembly fixture 1112 through interface 1822. In particular,
external mobile platform 1705 has been coupled to cradle fixture 1010 through
interface 1822.
Similarly, external mobile platform 1707 may autonomously couple to
assembly fixture 1112 to form interface 1824 such that a number of utilities
may flow
from assembly fixture 1112 to external mobile platform 1707. In other words,
the
number of utilities may be autonomously coupled between external mobile
platform
1707 and assembly fixture 1112 through interface 1824. In particular, external
mobile platform 1707 has been coupled to cradle fixture 1010 through interface
1824.
As operations are performed along fuselage assembly 1200 by external
mobile platform 1705, external mobile platform 1707, and any other external
mobile
platforms, these external mobile platforms may be coupled to and decoupled
from
assembly fixture 1112 as needed. For example, external mobile platform 1707
may
decouple from cradle fixture 1010 as external mobile platform 1707 moves
aftward
along fuselage assembly 1200 such that external mobile platform 1707 may then
autonomously couple to cradle fixture 1008 (not shown) from Figures 10-17.
Further, these external mobile platforms may be coupled to and decoupled from
assembly fixture 1112 to avoid collisions and prevent the external mobile
platforms
from impeding each other during maneuvering of the external mobile platforms
relative to assembly fixture 1112 and fuselage assembly 1200.
As depicted, autonomous vehicle 1814 is shown positioned under the
assembly fixture 1112 formed by cradle system 1000. In this illustrative
example,
autonomous vehicle 1814, autonomous vehicle 1711, and autonomous vehicle 1713
may have omnidirectional wheels 1816, omnidirectional wheels 1818, and
omnidirectional wheels 1820, respectively. In some illustrative examples,
metrology
system 1826 may be used to help position external mobile platform 1705 and
external mobile platform 1707 relative to fuselage assembly 1200.
Turning now to Figure 19, an illustration of an isometric view of a fully
built
fuselage assembly is depicted in accordance with an illustrative embodiment.
In this
illustrative example, fuselage assembly 1200 may be considered completed when
plurality of panels 1508 have been fully joined.
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In other words, all fasteners needed to join together plurality of panels 1508
have been fully installed. With plurality of panels 1508 joined together,
support
structure 1900 may be fully formed. Support structure 1900 may be an example
of
one implementation for support structure 121 in Figure 1. Fuselage assembly
1200,
which is an aft fuselage assembly, may now be ready for attachment to a
corresponding middle fuselage assembly (not shown) and forward fuselage
assembly
(not shown).
As depicted, autonomous vehicles (not shown in this view), similar to
autonomous vehicle 1714 shown in Figure 17, may be positioned under base 1012
of cradle fixture 1006, base 1014 of cradle fixture 1008, and base 1016 of
cradle
fixture 1010, respectively. Autonomous vehicles, such as number of
corresponding
autonomous vehicles 316 in Figure 3, may lift up base 1012, base 1014, and
base
1016, respectively, such that plurality of stabilizing members 1024, plurality
of
stabilizing members 1026, and plurality of stabilizing members 1028,
respectively, no
longer contact the floor.
These autonomous vehicles (not shown) may then autonomously drive cradle
system 1000 carrying fuselage assembly 1200 that has been fully built away
from
assembly environment 802 in Figure 8 and, in some cases, away from
manufacturing environment 800 in Figure 8. Computer-controlled movement of
these autonomous vehicles (not shown) may ensure that number of cradle
fixtures
1002 maintain their positions relative to each other as fuselage assembly 1200
is
being moved.
With reference now to Figure 20, an illustration of an isometric view of
fuselage assemblies being built within manufacturing environment 800 is
depicted in
accordance with an illustrative embodiment. In this illustrative example,
plurality of
fuselage assemblies 2000 are being built within plurality of work cells 812 in
manufacturing environment 800.
Plurality of fuselage assemblies 2000 may include plurality of forward
fuselage
assemblies 2001 being built in first portion 814 of plurality of work cells
812 and
plurality of aft fuselage assemblies 2002 being built in second portion 816 of
plurality
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of work cells 812. Each of plurality of fuselage assemblies 2000 may be an
example
of one implementation for fuselage assembly 114 in Figure 1.
As depicted, plurality of fuselage assemblies 2000 are being built
concurrently.
However, plurality of fuselage assemblies 2000 are at different stages of
assembly in
this illustrative example.
Forward fuselage assembly 2004 may be an example of one of plurality of
forward fuselage assemblies 2001. Forward fuselage assembly 2004 may be an
example of one implementation for forward fuselage assembly 117 in Figure 1.
Aft
fuselage assembly 2005 may be an example of one of plurality of aft fuselage
assemblies 2002. Aft fuselage assembly 2005 may be an example of one
implementation for aft fuselage assembly 116 in Figure 1. In
this illustrative
example, aft fuselage assembly 2005 may be at an earlier stage of assembly
than
forward fuselage assembly 2004.
Aft fuselage assembly 2006, which may be another example of an
.. implementation for aft fuselage assembly 116 in Figure 1, may be a fuselage
assembly with all panels joined. As depicted, aft fuselage assembly 2006 is
being
autonomously driven to some other location for a next stage in the overall
fuselage
and aircraft manufacturing process.
As described above, aft fuselage assembly 2005 may be partially assembled.
In this illustrative example, aft fuselage assembly 2005 has keel 2010, end
panel
2011, and first side 2012. End panel 2011 may form an end fuselage section of
aft
fuselage assembly 2005. As depicted, side panel 2014 may be added to aft
fuselage
assembly 2005 to build a second side of aft fuselage assembly 2005.
Forward fuselage assembly 2015 may be another example of one of plurality
of forward fuselage assemblies 2001. In this illustrative example, forward
fuselage
assembly 2015 has keel 2016 and end panel 2018. End panel 2018 may form an
end fuselage section of forward fuselage assembly 2015. As depicted, side
panel
2020 may be added to forward fuselage assembly 2015 to begin building a first
side
of forward fuselage assembly 2015.
With reference now to Figure 21, an illustration of an enlarged isometric view
of cradle fixture 1006 from Figure 10 is depicted in accordance with an
illustrative
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CA 02894299 2015-06-15
embodiment. In this illustrative example, utilities unit 2100 may be
associated with
cradle fixture 1006. Utilities unit 2100 may be an example of one
implementation for
utilities unit 606 in Figure 6.
As depicted, utilities unit 2100 may be associated with base 2101. Base 2101
may be associated with rail system 2102, which is attached to cradle fixture
1006.
Base 2101, and thereby utilities unit 2100, may be moved along rail system
2102
relative to base 1012 of cradle fixture 1006 in a direction along X-axis 2104.
Utilities unit 2100 may be coupled to an external mobile platform, such as
either external mobile platform 1705 or external mobile platform 1707 in
Figure 17.
Utilities unit 2100 may provide a number of utilities from cradle fixture 1006
to this
external mobile platform.
Cable management system 2106 may be associated with cradle fixture 1006
and utilities unit 2100. Cable management system 2106 may be an example of one
implementation for cable management system 620 in Figure 6. Cable management
system 2106 may be used to manage a number of utility cables (not shown) that
connect to utilities unit 2100.
With reference now to Figure 22, an illustration of an isometric view of a
dual-
interface coupler is depicted in accordance with an illustrative embodiment.
In this
illustrative example, dual-interface coupler 2200 may be an example of one
implementation for dual-interface coupler 600 in Figure 6. Dual-interface
coupler
2200 may include utilities unit 2100 shown in Figure 21.
First coupling unit 2202 and second coupling unit 2204 may be associated
with utilities unit 2100. First coupling unit 2202 and second coupling unit
2204 may
be examples of implementations for first coupling unit 612 and second coupling
unit
614, respectively, in Figure 6.
Further, first corresponding coupling unit 2206 has been fitted to external
mobile platform 1705 from Figure 17. In this illustrative example, first
corresponding
coupling unit 2206 may be permanently attached to external mobile platform
1705 by
fitting 2210. Second corresponding coupling unit 2208 is shown associated with
rail
system 2102 of cradle fixture 1006 from Figure 21. First corresponding
coupling unit
2206 and second corresponding coupling unit 2208 may be examples of
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CA 02894299 2015-06-15
implementations for first corresponding coupling unit 616 and second
corresponding
coupling unit 618, respectively, in Figure 6.
In this illustrative example, second coupling unit 2204 is mated with second
corresponding coupling unit 2208. Interface 2212 is formed between second
coupling unit 2204 and second corresponding coupling unit 2208. In particular,
mechanical interface 2214 is formed between second coupling unit 2204 and
second
corresponding coupling unit 2208. In this illustrative example, mechanical
interface
2214, and thereby interface 2212, may be activated, or locked. Interface 2212
and
mechanical interface 2214 may be examples of implementations for second
interface
626 and mechanical interface 644, respectively, in Figure 6.
First coupling unit 2202 may be configured to mate with first corresponding
coupling unit 2206 associated external mobile platform 1705. As depicted,
number of
utility cables 2215 extend from first corresponding coupling unit 2206. Number
of
utility cables 2215 may connect to, for example, without limitation, a set of
units (not
shown) that may be associated with external mobile platform 1705. When first
corresponding coupling unit 2206 is mated with first coupling unit 2202
associated
with utilities unit 2100, a number of utilities may flow from cradle fixture
1006 through
utilities unit 2100 to external mobile platform 1705. Number of utility cables
2215
may distribute these utilities to at least one of a set of units (not shown)
associated
with external mobile platform 1705, external robotic device 1706 in Figure 17
associated with external mobile platform 1705, a tool (not shown) associated
with
external mobile platform 1705, or some other type of device.
As depicted, first alignment system 2216 may be associated with first
corresponding coupling unit 2206. First alignment system 2216 may be an
example
of one implementation for first alignment system 660 in Figures 6 and 7. First
alignment system 2216 may include roller 2218 and target plate 2220. Roller
2218
may be an example of one implementation for roller 706 in Figure 7. Target
plate
2220 may be an example of one implementation for set of laser targets 718 in
Figure
7.
Second alignment system 2222 may be associated with second corresponding
coupling unit 2208. Second alignment system 2222 may be an example of one
CA 02894299 2015-06-15
implementation for second alignment system 662 in Figures 6 and 7. Second
alignment system 2222 may include set of movement systems 2224, laser device
2225, laser device 2226, and guidance fork 2228. Set of movement systems 2224
may be an example of one implementation for set of movement systems 708 in
Figure 7. Laser device 2225 and laser device 2226 may each be an example of
one
implementation for laser device 722 in Figure 7. Further, guidance fork 2228
may be
an example of one implementation for guidance fork 712 in Figure 7.
As depicted in this example, set of movement systems 2224 may include rail
system 2230 and air cylinder 2232. Rail system 2230 may be used to move second
corresponding coupling unit 2208, and thereby utilities unit 2100, in a
direction along
at least one of X-axis 2104 or Y-axis 2234. Rail system 2230 may include any
number of rails. Air cylinder 2232 may be used to move bracket 2233 in a
direction
along Y-axis 2234. In this illustrative example, bracket 2233 is in forward
position
2235 that is located further away from cradle fixture 1006 than a home
position (not
shown) of bracket 2233. Second corresponding coupling unit 2208 may be
integrated with bracket 2233 such that movement of bracket 2233 by air
cylinder
2232 also moves second corresponding coupling unit 2208.
In this illustrative example, laser device 2225 and laser device 2226 may be
used to more precisely position first coupling unit 2202 relative to first
corresponding
coupling unit 2206 such that the two coupling units may be engaged with each
other.
Guidance fork 2228 may be used to guide roller 2218 to aid in the alignment of
first
corresponding coupling unit 2206 with first coupling unit 2202 in the
direction of at
least one of X-axis 2104 or Z-axis 2236. For example, external mobile platform
1705
may be driven to move first corresponding coupling unit 2206 towards first
coupling
unit 2202. As first corresponding coupling unit 2206 is moved towards first
coupling
unit 2202, set of movement systems 2224 may move utilities unit 2100, and
thereby
first coupling unit 2202 associated with utilities unit 2100, into alignment
with first
corresponding coupling unit 2206. Roller 2218 may be guided into and engaged
with
guidance fork 2228.
In this illustrative example, compliance unit 2238 may be associated with
utilities unit 2100. Compliance unit 2238 may be an example of one
implementation
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CA 02894299 2015-06-15
for compliance unit 651 in Figure 6. Compliance unit 2238 may allow utilities
unit
2100 to have a certain amount of rotational freedom of movement relative to
second
coupling unit 2204, which may aid in the alignment of first coupling unit 2202
to first
corresponding coupling unit 2206. Compliance unit 2238 may be integrated with
utilities unit 2100 in this illustrative example.
In this illustrative example, number of utility cables 2240 may connect to
utilities unit 2100. Number of utility cables 2240 may carry a number of
utilities from
cradle fixture 1006 to utilities unit 2100.
With reference now to Figure 23, an illustration of a front view of dual-
interface coupler 2200 from Figure 22 is depicted in accordance with an
illustrative
embodiment. In
this illustrative example, autonomous vehicle 1711 fixedly
associated with external mobile platform 1705 may be seen. Fitting 2210 may be
permanently affixed to platform base 2300 of external mobile platform 1705 in
this
illustrative example.
As depicted, cable management system 2106 may include cable support arm
2302 and cable track 2304. Cable support arm 2302 and cable track 2304 may be
examples of implementations for cable support arm 623 and cable track 621,
respectively, shown in Figure 6. Cable support arm 2302 and cable track 2304
keep
number of utility cables 2240 organized and may support number of utility
cables
2240 as utilities unit 2100 is moved relative to cradle fixture 1006. In some
cases,
cable track 2304 may be comprised of a flexible material.
In this illustrative example, bracket 2233 may be shown in home position
2306. As depicted, home position 2306 may be located closer to cradle fixture
1006
than forward position 2235 for bracket 2233 seen in in Figure 22.
External mobile platform 1705 may be driven in the direction of arrow 2308
such that first corresponding coupling unit 2206 may be moved towards first
coupling
unit 2202 and thereby, utilities unit 2100. Air cylinder 2232 may be used to
move
bracket 2233 in the direction of arrow 2310 to move utilities unit 2100
towards
external mobile platform 1705.
Bracket 2233 may be associated with rail system 2230. Rail system 2230
may be used to move bracket 2233 in a direction along at least one of Y-axis
2234 or
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X-axis 2104 seen in Figure 22. In some cases, bracket 2233 may be stabilized
on
rail system 2230 by a biasing system (not shown). The biasing system (not
shown)
may be comprised of any number of springs for use in stabilizing bracket 2233
with
respect to rail system 2230 such that bracket 2233 may be biased into a home
position after second coupling unit 2204 is decoupled from second
corresponding
coupling unit 2208. Decoupling second coupling unit 2204 from second
corresponding coupling unit 2208 decouples utilities unit 2100 from cradle
fixture
1006.
Further, as described above, second corresponding coupling unit 2208 may
be associated with bracket 2233. Still further, guidance fork 2228 may be
associated
with bracket 2233. In this manner, movement of bracket 2233 in any direction
may
cause movement of second corresponding coupling unit 2208 and guidance fork
2228 of a substantially same distance in substantially the same direction.
At least one of laser device 2225 or laser device 2226 may be used to
determine whether first corresponding coupling unit 2206 is aligned with first
coupling
unit 2202 within selected tolerances. When first corresponding coupling unit
2206 is
not precisely positioned in alignment with first coupling unit 2202 within
selected
tolerances, air cylinder 2232 may move bracket 2233, and thereby guidance fork
2228, towards first coupling unit 2202. Guidance fork 2228 may receive roller
2218
and aid in the alignment of first coupling unit 2202 with respect to X-axis
2104 in
Figure 22.
In these illustrative examples, at least one of laser device 2225 or laser
device
2226 may be used to generate data that may be used by, for example, without
limitation, autonomous vehicle 1711. Autonomous vehicle 1711 may use the data
to
drive external mobile platform 1705 at least one of linearly or rotationally
such that
first corresponding coupling unit 2206 may be aligned with first coupling unit
2202.
Once first corresponding coupling unit 2206 has been aligned with first
coupling unit 2202 within selected tolerances, first corresponding coupling
unit 2206
may be mated with first coupling unit 2202. In other words, an interface may
be
formed between utilities unit 2100 and external mobile platform 1705.
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CA 02894299 2015-06-15
With reference now to Figure 24, an illustration of an interface formed
between utilities unit 2100 and external mobile platform 1705 from Figure 23
is
depicted in accordance with an illustrative embodiment. In this illustrative
example,
interface 2400 has been formed between utilities unit 2100 and external mobile
platform 1705. In particular, mechanical interface 2402 and utility interface
2404 has
been formed between first coupling unit 2202 and first corresponding coupling
unit
2206. Compliance unit 2238 may provide the rotational freedom of movement
needed to fine-tune the coupling of first coupling unit 2202 to first
corresponding
coupling unit 2206.
Once interface 2400 is formed, interface 2400 may be activated. More
specifically, mechanical interface 2402 may be activated, or locked. Once
interface
2400 has been activated, interface 2212 may be deactivated. In other words,
interface 2212 may be switched from a state of activated to a state of
inactivated.
Interface 2212 may be deactivated by unlocking interface 2212. Once interface
2212
has been deactivated, second coupling unit 2204 may be capable of being
disengaged from second corresponding coupling unit 2208.
With reference now to Figure 25, an illustration of second coupling unit 2204
disengaged from second corresponding coupling unit 2208 from Figure 24 is
depicted in accordance with an illustrative embodiment. In this illustrative
example,
autonomous vehicle 1711 may drive external mobile platform 1705 in the
direction of
arrow 2500.
As external mobile platform 1705 moves in the direction of arrow 2500,
second coupling unit 2204 disengages from second corresponding coupling unit
2208 because interface 2212 was deactivated as described in Figure 24.
Interface
2400 remains activated such that utilities unit 2100 is moved with external
mobile
platform 1705 as external mobile platform 1705 moves away from cradle fixture
1006.
The illustrations of manufacturing environment 800 in Figures 8-25 are not
meant to imply physical or architectural limitations to the manner in which an
illustrative embodiment may be implemented. Other components in addition to or
in
place of the ones illustrated may be used. Some components may be optional.
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The different components shown in Figures 8-25 may be illustrative examples
of how components shown in block form in Figures 1-7 can be implemented as
physical structures. Additionally, some of the components in Figures 8-25 may
be
combined with components in Figures 1-7, used with components in Figure 1-7,
or a
combination of the two.
With reference now to Figure 26, an illustration of a process for coupling a
number of utilities between a first system and a second system is depicted in
the
form of a flowchart in accordance with an illustrative embodiment. The process
illustrated in Figure 26 may be implemented using dual-interface coupler 600
in
Figure 6.
The process may begin by creating first interface 624 between first system
601 and utilities unit 606 that couples number of utilities 146 between first
system
601 and second system 603 (operation 2600). Creating first interface 624 may
mechanically couple utilities unit 606 with first system 601 but may also
create utility
interface 653 between utilities unit 606 and first system 601. In other words,
creating
first interface 624 couples number of utilities 146 between utilities unit 606
and first
system 601, thereby coupling number of utilities 146 between first system 601
and
second system 603.
Next, first interface 624 is activated (operation 2602). Thereafter, second
interface 626 between second system 603 and utilities unit 606 may be
deactivated
while first interface 624 remains activated such that utilities unit 606 is
movable by
first system 601 relative to second system 603 (operation 2604).
Next, second system 603 may be moved away from first system 601 to
disengage utilities unit 606 from second system 603 (operation 2606), with the
process terminating thereafter. Operation 2606 may effectively disconnect
second
interface 626.
With utilities unit 606 disengaged from second system 603, first system 601
may have the capability to freely move relative to second system 603, while
still
receiving number of utilities 146 from second system 603 through utilities
unit 606.
First system 601 may be capable of moving freely within the range allowed by
cable
management system 620 and number of utility cables 622. In some illustrative
CA 02894299 2015-06-15
examples, one or more of the operations described above may be performed
autonomously.
With reference now to Figure 27, an illustration of a process for coupling a
number of utilities between an external mobile platform and a cradle fixture
is
depicted in the form of a flowchart in accordance with an illustrative
embodiment.
The process illustrated in Figure 27 may be implemented using dual-interface
coupler 600 in Figure 6.
The process may begin by driving external mobile platform 404 into selected
position 650 relative to cradle fixture 322 (operation 2700). Next, first
coupling unit
.. associated with utilities unit 606 may be aligned with first corresponding
coupling unit
616 associated with external mobile platform 404 (operation 2702). Then first
coupling unit 612 may be mated with first corresponding coupling unit 616 to
create
first interface 624 that comprises mechanical interface 652 and utility
interface 653
(operation 2704).
Number of utilities 146 may be distributed from cradle fixture 322 through
utilities unit 606 across utility interface 653 to external mobile platform
404 (operation
2706). Next, first interface 624 may be activated (operation 2708). Second
interface
626 between second coupling unit 614 associated with utilities unit 606 and
second
corresponding coupling unit 618 associated with cradle fixture 322 may be
deactivated (operation 2710).
Second coupling unit 614 may then be disengaged from second
corresponding coupling unit 618 and moved away from cradle fixture 322
(operation
2712). External mobile platform 404 may be driven away from cradle fixture 322
to
move utilities unit 606 away from cradle fixture 322 (operation 2714), with
the
process terminating thereafter.
With reference now to Figure 28, an illustration of a process for decoupling a
number of utilities between a first system and a second system is depicted in
the
form of a flowchart in accordance with an illustrative embodiment. The process
illustrated in Figure 28 may be implemented to decouple number of utilities
146
.. between first system 601 and second system 603 in Figure 6.
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The process described in Figure 28 may be performed after, for example,
without limitation, the process described in Figure 26 has been performed.
Prior to
the process in Figure 28 beginning, utilities unit 606 may be mechanically
coupled to
first system 601 but not mechanically coupled to second system 603 from Figure
6.
Further, utilities unit 606 may have utility interface 653 with first system
601.
The process may begin by driving second system 603 into a position relative
to first system 601 (operation 2800). Next, second interface 626 may be
recreated
(operation 2802). In operation 2802, creating second interface 626
mechanically
couples utilities unit 606 to second system 603. Then, second interface 626
may be
reactivated (operation 2804). First interface 624 may then be deactivated
while
second interface 626 remains activated (operation 2806).
Thereafter, utilities unit 606 may be disengaged from second system 603
while second interface 626 remains activated (operation 2808). Then, first
system
601 may be driven away from second system 603 (operation 2810), with the
process
terminating thereafter. Depending on the implementation, one or more of the
operations described above may be performed autonomously.
The flowcharts and block diagrams in the different depicted embodiments
illustrate the architecture, functionality, and operation of some possible
implementations of apparatuses and methods in an illustrative embodiment. In
this
regard, each block in the flowcharts or block diagrams may represent a module,
a
segment, a function, a portion of an operation or step, some combination
thereof.
In some alternative implementations of an illustrative embodiment, the
function
or functions noted in the blocks may occur out of the order noted in the
figures. For
example, in some cases, two blocks shown in succession may be executed
substantially concurrently, or the blocks may sometimes be performed in the
reverse
order, depending upon the functionality involved. Also, other blocks may be
added in
addition to the illustrated blocks in a flowchart or block diagram.
Turning now to Figure 29, an illustration of a data processing system is
depicted in the form of a block diagram in accordance with an illustrative
embodiment. Data processing system 2900 may be used to implement any of the
controllers described above, including control system 136 in Figure 1. In some
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illustrative examples, data processing system 2900 may be used to implement at
least one of a controller in set of controllers 140 in Figure 1.
As depicted, data processing system 2900 includes communications
framework 2902, which provides communications between processor unit 2904,
storage devices 2906, communications unit 2908, input/output unit 2910, and
display
2912. In some cases, communications framework 2902 may be implemented as a
bus system.
Processor unit 2904 is configured to execute instructions for software to
perform a number of operations. Processor unit 2904 may comprise at least one
of a
number of processors, a multi-processor core, or some other type of processor,
depending on the implementation. In some cases, processor unit 2904 may take
the
form of a hardware unit, such as a circuit system, an application specific
integrated
circuit (ASIC), a programmable logic device, or some other suitable type of
hardware
unit.
Instructions for the operating system, applications and programs run by
processor unit 2904 may be located in storage devices 2906. Storage devices
2906
may be in communication with processor unit 2904 through communications
framework 2902. As used herein, a storage device, also referred to as a
computer
readable storage device, is any piece of hardware capable of storing
information on a
temporary basis, a permanent basis, or both. This information may include, but
is not
limited to, data, program code, other information, or some combination
thereof.
Memory 2914 and persistent storage 2916 are examples of storage devices
2906. Memory 2914 may take the form of, for example, a random access memory or
some type of volatile or non-volatile storage device. Persistent storage 2916
may
comprise any number of components or devices. For example, persistent storage
2916 may comprise a hard drive, a flash memory, a rewritable optical disk, a
rewritable magnetic tape, or some combination of the above. The media used by
persistent storage 2916 may or may not be removable.
Communications unit 2908 allows data processing system 2900 to
communicate with other data processing systems, devices, or both.
Communications
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unit 2908 may provide communications using physical communications links,
wireless communications links, or both.
Input/output unit 2910 allows input to be received from and output to be sent
to other devices connected to data processing system 2900. For example,
input/output unit 2910 may allow user input to be received through a keyboard,
a
mouse, some other type of input device, or a combination thereof. As another
example, input/output unit 2910 may allow output to be sent to a printer
connected to
data processing system 2900.
Display 2912 is configured to display information to a user. Display 2912 may
comprise, for example, without limitation, a monitor, a touch screen, a laser
display, a
holographic display, a virtual display device, some other type of display
device, or a
combination thereof.
In this illustrative example, the processes of the different illustrative
embodiments may be performed by processor unit 2904 using computer-
implemented instructions. These instructions may be referred to as program
code,
computer usable program code, or computer readable program code and may be
read and executed by one or more processors in processor unit 2904.
In these examples, program code 2918 is located in a functional form on
computer readable media 2920, which is selectively removable, and may be
loaded
onto or transferred to data processing system 2900 for execution by processor
unit
2904. Program code 2918 and computer readable media 2920 together form
computer program product 2922. In this illustrative example, computer readable
media 2920 may be computer readable storage media 2924 or computer readable
signal media 2926.
Computer readable storage media 2924 is a physical or tangible storage
device used to store program code 2918 rather than a medium that propagates or
transmits program code 2918. Computer readable storage media 2924 may be, for
example, without limitation, an optical or magnetic disk or a persistent
storage device
that is connected to data processing system 2900.
Alternatively, program code 2918 may be transferred to data processing
system 2900 using computer readable signal media 2926. Computer readable
signal
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media 2926 may be, for example, a propagated data signal containing program
code
2918. This data signal may be an electromagnetic signal, an optical signal, or
some
other type of signal that can be transmitted over physical communications
links,
wireless communications links, or both.
The illustration of data processing system 2900 in Figure 29 is not meant to
provide architectural limitations to the manner in which the illustrative
embodiments
may be implemented. The different illustrative embodiments may be implemented
in
a data processing system that includes components in addition to or in place
of those
illustrated for data processing system 2900. Further, components shown in
Figure
29 may be varied from the illustrative examples shown.
The illustrative embodiments of the disclosure may be described in the context
of aircraft manufacturing and service method 3000 as shown in Figure 30 and
aircraft 3100 as shown in Figure 31. Turning first to Figure 30, an
illustration of an
aircraft manufacturing and service method is depicted in the form of a block
diagram
in accordance with an illustrative embodiment. During pre-production,
aircraft
manufacturing and service method 3000 may include specification and design
3002
of aircraft 3100 in Figure 31 and material procurement 3004.
During production, component and subassembly manufacturing 3006 and
system integration 3008 of aircraft 3100 in Figure 31 takes place. Thereafter,
aircraft
3100 in Figure 31 may go through certification and delivery 3010 in order to
be
placed in service 3012. While in service 3012 by a customer, aircraft 3100 in
Figure
31 is scheduled for routine maintenance and service 3014, which may include
modification, reconfiguration, refurbishment, and other maintenance or
service.
Each of the processes of aircraft manufacturing and service method 3000 may
be performed or carried out by at least one of a system integrator, a third
party, or an
operator. In these examples, the operator may be a customer. For the purposes
of
this description, a system integrator may include, without limitation, any
number of
aircraft manufacturers and major-system subcontractors; a third party may
include,
without limitation, any number of vendors, subcontractors, and suppliers; and
an
operator may be an airline, a leasing company, a military entity, a service
organization, and so on.
CA 02894299 2015-06-15
With reference now to Figure 31, an illustration of an aircraft is depicted in
the
form of a block diagram in which an illustrative embodiment may be
implemented. In
this example, aircraft 3100 is produced by aircraft manufacturing and service
method
3000 in Figure 30 and may include airframe 3102 with plurality of systems 3104
and
interior 3106. Examples of systems 3104 include one or more of propulsion
system
3108, electrical system 3110, hydraulic system 3112, and environmental system
3114. Any number of other systems may be included. Although an aerospace
example is shown, different illustrative embodiments may be applied to other
industries, such as the automotive industry.
Apparatuses and methods embodied herein may be employed during at least
one of the stages of aircraft manufacturing and service method 3000 in Figure
30. In
particular, flexible manufacturing system 106 from Figure 1 may be used to
build at
least a portion of airframe 3102 of aircraft 3100 during any one of the stages
of
aircraft manufacturing and service method 3000. For example, without
limitation,
flexible manufacturing system 106 from Figure 1 may be used during at least
one of
component and subassembly manufacturing 3006, system integration 3008, or some
other stage of aircraft manufacturing and service method 3000 to form a
fuselage for
aircraft 3100.
In one illustrative example, components or subassemblies produced in
component and subassembly manufacturing 3006 in Figure 30 may be fabricated or
manufactured in a manner similar to components or subassemblies produced
while aircraft 3100 is in service 3012 in Figure 30. As yet another example,
one or
more apparatus embodiments, method embodiments, or a combination thereof may
be utilized during production stages, such as component and subassembly
manufacturing 3006 and system integration 3008 in Figure 30. One or more
apparatus embodiments, method embodiments, or a combination thereof may be
utilized while aircraft 3100 is in service 3012, during maintenance and
service 3014 in
Figure 30, or both. The use of a number of the different illustrative
embodiments may
substantially expedite the assembly of and reduce the cost of aircraft 3100.
The description of the different illustrative embodiments has been presented
for purposes of illustration and description, and is not intended to be
exhaustive or
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limited to the embodiments in the form disclosed. Many modifications and
variations
will be apparent to those of ordinary skill in the art. Further, different
illustrative
embodiments may provide different features as compared to other desirable
embodiments. The embodiment or embodiments selected are chosen and described
in order to best explain the principles of the embodiments, the practical
application,
and to enable others of ordinary skill in the art to understand the disclosure
for
various embodiments with various modifications as are suited to the particular
use
contemplated.
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